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Volume 41 Issue 12
Dec.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(12): 2280-2287.
YAO Peng, WANG Honglun, LIU Changet al. Three-dimensional rolling path planning via dynamic fluid disturbance[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(12): 2280-2287. doi: 10.13700/j.bh.1001-5965.2014.0773(in Chinese)
Citation: YAO Peng, WANG Honglun, LIU Changet al. Three-dimensional rolling path planning via dynamic fluid disturbance[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(12): 2280-2287. doi: 10.13700/j.bh.1001-5965.2014.0773(in Chinese)
shu

Three-dimensional rolling path planning via dynamic fluid disturbance

doi: 10.13700/j.bh.1001-5965.2014.0773
  • 1.

    School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • 2. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 10 Dec 2014
  • Rev Recd Date: 06 Mar 2015
  • Publish Date: 20 Dec 2015
    Abstract
  • Considering the existence of moving target, moving threat and emergent threat in complex environment, the method of dynamic fluid disturbance and the rolling optimization strategy were combined for the three-dimensional dynamic path planning of unmanned aerial vehicle (UAV). Based on the motion information of moving target and threat, the relative initial fluid was constructed. Then, the influence of obstacles or threats on the relative initial fluid was quantized by the disturbance matrix. The relative modified flow was then obtained by modulation. Then the actual streamline which was the planning path, was easily accomplished. By fully utilizing the real-time environmental information and considering the motion in the future, the method of dynamic fluid disturbance was utilized to plan local path in limited time-domain. And the objective function was built and the reactive parameter was obtained by rolling optimization to realize the online path planning. Finally, the effectiveness of the method in complex dynamic environment is indicated.

     

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