UAV Path Planning in the Presence of Unknown Environments

摘要：

Real-time path planning under the unknown environment such asdynamic obstacles and unknown terrain is one of the key problems for uninhabited aerial vehicle (UAV) guidance and control. UAVs should be able to cope with unknown environments since the environment information given prior to actual action may not be complete. Therefore, the pre-planned flight trajectory should be modified using the real time information of various sensors. The re-planning of the flight trajectory has to be performed in real time, and the feasible trajectory should be generated. In this study, D* lite algorithm and RRT (Rapidly-exploring Random Tree) are used for the problem of path planning of UAV in the presence of unknown environments. Those algorithms are reformulated to generate a smooth trajectory that can avoid collision with unknown terrain and/or dynamic obstacles. D lite algorithm generates a trajectory for collision avoidance, and RRT smoothes the trajectory in order to enhance the feasibility. Numerical simulation is performed for the problem having unknown terrain. Simulation result shows the effectiveness and usefulness of the proposed method. The performance of the proposed method is compared with that of conventional D* lite algorithm and RRT.

关键词： UAV D* lite RRT Collision Avoidances Path Planning Unknown Environment Dynamic Obstacle

作者: Lee Yongwoo Choi Hyunjin Kim Youdan

作者单位: School of Mechanical and Aerospace Engineering, Seoul National University,Seoul,Korea School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea

会议类型: 国际会议

会议名称: 2010 Asia-Pacific International Symposium on Aerospace Technology(2010 亚太航空航天技术研讨会 APISAT 2010)

会议地点: 西安

会议语种:英文

页码: 632-635

在线出版日期: 2010-09-01（万方平台首次上网日期，不代表论文的发表时间）