Details

Autor(en) / Beteiligte

• Liu, Huan
• Li, Xiamiao
• Fan, Mingfeng
• Wu, Guohua
• Pedrycz, Witold
• Nagaratnam Suganthan, Ponnuthurai

Titel

An Autonomous Path Planning Method for Unmanned Aerial Vehicle Based on a Tangent Intersection and Target Guidance Strategy

Ist Teil von

• IEEE transactions on intelligent transportation systems, 2022-04, Vol.23 (4), p.3061-3073

Ort / Verlag

IEEE

Erscheinungsjahr

2022

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this article proposes a novel autonomous path planning algorithm based on a tangent intersection and target guidance strategy (APPATT). Guided by a target, the elliptic tangent graph method is used to generate two sub-paths, one of which is selected based on heuristic rules when confronting an obstacle. The UAV flies along the selected sub-path and repeatedly adjusts its flight path to avoid obstacles through this way until the collision-free path extends to the target. Considering the UAV kinematic constraints, the cubic B-spline curve is employed to smooth the waypoints for obtaining a feasible path. Compared with A*, PRM, RRT and VFH, the experimental results show that APPATT can generate the shortest collision-free path within 0.05 seconds for each instance under static environments. Moreover, compared with VFH and RRTRW, APPATT can generate satisfactory collision-free paths under uncertain environments in a nearly real-time manner. It is worth noting that APPATT has the capability of escaping from simple traps within a reasonable time.