An Improved Dubins Curve Algorithm for Route Planning with Constraint of Obstacles in Plant Protection UAV
Nowadays,the plant protection UAV” technology has aroused more and more attention in the world.However,a few route planning algorithm have been applied for the plant protection UAV spray operation in large area with obstacles.In this paper,to solve this problem,an improved Dubins curve algorithm considering the route length and the re-spray and leakage area is proposed for the route planning with constraint of obstacles.After selecting the appropriate Dubins curve to generate the obstacle avoidance route,the genetic algorithm(GA)is used to search the shortest route in the flyable routes.Then,the derivation formula of the re-spray and leakage area based on the obstacle avoidance route planning algorithm is obtained.Finally,simulat ions show that the increment of obstacle avoidance route length is kept within the 6%while the decrement of the re-spray and leakage areas is more than 230%under the same conditions comparing with the traditional obstacle avoidance algorithm.Moreover,it is proved that the route planning algorithm is still valid even if the size of the obstacle and the minimum turning radius of the UAV are changed.
plant protection UAV obstacle avoidance Dubins curve genetic algorithm re-spray and leakage
Xihai Zhang Chengguo Fan Dong Liu Jiali Du Junlong Fang Fanfeng Meng
School of Electronic Engineering and Information,Northeast Agricultural University,Harbin,150030,China
国内会议
广州
英文
48-61
2016-11-12（万方平台首次上网日期，不代表论文的发表时间）