Abstract
Dynamic window algorithm (DWA) is a local path-planning algorithm, which can be used for obstacle avoidance through speed selection and obtain the optimal path, but the algorithm mainly plans the path for fixed obstacles. Based on DWA algorithm, this paper proposes an improved DWA algorithm based on space-time correlation, namely, space-time dynamic window approach. In SDWA algorithm, a DWA associated with obstacle position and time is proposed to achieve the purpose of path planning for moving obstacles. Then, by setting the coordinates of the initial moving obstacle and identifying safety distance, we can define the shape of the obstacle and the path planning of the approach segment in thunderstorm weather based on the SDWA model was realized. Finally, the superior performance of the model was verified by setting moving obstacles for path planning and selecting the aircraft approach segment in actual thunderstorm weather. The results showed that SDWA has good path-planning performance in a dynamic environment. Its path-planning results were very similar to an actual aircraft performing thunderstorm-avoidance maneuvers, but with more smooth and economical trajectory. The proposed SDWA model had great decision-making potential for approach segment planning in thunderstorm weather.
Highlights
To ensure the flight safety of the aircraft, the path planning of the approach segment in thunderstorm weather is mainly to reasonably design the diversion route for aircrafts that may encounter thunderstorms on future route within a defined period of time
Path planning of moving obstacles includes Jiang Zhongyu’s “Improved dynamic a × algorithm combined with time window” [20], Wu Chuanjun’s “moving obstacle path planning based on dynamic spatiotemporal environment impact model and grid” [21], and Chen Jinfeng’s “artificial potential field method combined with rolling window” [22]
An improved spatiotemporal dynamic window approach is proposed. e algorithm can deal with the pathplanning problem in an dynamic environment by associating the location of obstacles in a single window with time
Summary
To ensure the flight safety of the aircraft, the path planning of the approach segment in thunderstorm weather is mainly to reasonably design the diversion route for aircrafts that may encounter thunderstorms on future route within a defined period of time. For the approach segment path planning in civil aviation thunderstorm weather, the traditional algorithm [23, 24] is mainly used to plan the path of aircraft with thunderstorm on the route. E dynamic window approach is a path-planning algorithm that drives objects by simulating trajectories at Scientific Programming different speeds, evaluating the trajectories, and selecting the speed under the optimal trajectory in the current window [25]. It can deal with a series of obstacle avoidance problems of fixed obstacles.
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