<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>For the demand of the UAV autonomous path planning in dynamic thread environment, the three-dimensional path planning algorithm on-line of UAV based on Pythagorean Hodograph (PH) curve is put forward. According to the UAV’s current flight state such as location and speed, and the interrupt point or the target’s state, a flyable path with continuous curvature is planed out online. The roles of the key parameters are analyzed and the range of the values are given. On this basis, the distribution estimation algorithm is used to optimize the selection of path parameters, which avoid the blindness iterative process and consider the kinematics constraints such as the curvature, torsion and climbing angle. The multiple UAVs’ three dimensional path planning in dynamic environment are tested. Simulation results prove the validity and practicability of the algorithm.</p></abstract>

For the demand of the UAV autonomous path planning in dynamic thread environment, the three-dimensional path planning algorithm on-line of UAV based on Pythagorean Hodograph (PH) curve is put forward. According to the UAV’s current flight state such as location and speed, and the interrupt point or the target’s state, a flyable path with continuous curvature is planed out online. The roles of the key parameters are analyzed and the range of the values are given. On this basis, the distribution estimation algorithm is used to optimize the selection of path parameters, which avoid the blindness iterative process and consider the kinematics constraints such as the curvature, torsion and climbing angle. The multiple UAVs’ three dimensional path planning in dynamic environment are tested. Simulation results prove the validity and practicability of the algorithm.

Study of Three-Dimensional on-line path Planning for UAV based on Pythagorean Hodograph Curve

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

For the demand of the UAV autonomous path planning in dynamic thread environment, the three-dimensional path planning algorithm on-line of UAV based on...

Study of Three-Dimensional on-line path Planning for UAV based on Pythagorean Hodograph Curve

Publié en ligne: 01 sept. 2015

Pages: 1641 - 1666

Reçu: 10 avr. 2015

Accepté: 21 juil. 2015

DOI: https://doi.org/10.21307/ijssis-2017-823

© 2015 Zhang Yi et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.