Research on Self-adaptive Path-Planning for Aerocraft in 3D Dynamic Environments

摘要：

This paper provides a new approach to solve the motion planning problems of aerocraft in uncertain 3D dynamic environments. The aerocrafts controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new path-planning method accomplishes collision avoidance of aerocraft without any other auxiliary positioning systems. The Self-adaptive system gives aerocrafts self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.

关键词： Self-adaptive path-planning mobile aerocrafts sphere coordinates self-protection

作者: Liu Hao Chen Yi Li Yuxing

作者单位: School of Info Science.& Tech.,Southwest Jiaotong University,Chengdu,610031 China Department of Computer Science,Huazhong Normal University,Wuhan,430079 China

会议类型: 国际会议

会议名称: 第八届国际电子测量与仪器学术会议(Proceedings of 2007 8th International Conference on Electronic Measurement & Instruments)

会议地点: 西安

会议语种:英文

在线出版日期: 2007-08-16（万方平台首次上网日期，不代表论文的发表时间）