Abstract
To plan the path for UAV flying in the complex, dense and irregular obstacles environment, this paper proposed an obstacle collision-avoidance detection model and designed an UAV path planning algorithm based on irregular obstacles collision-avoidance detection (IOCAD), which includes irregular obstacles pretreatment method. The proposed method uses the grid method to model the environment. Rough set theory and convexity filling are used to pretreat the obstacles, and the ray method is used to select the available points. The intersection detection and the distance detection are held for the obstacle to the flight path. The objective function minimizes the distance from the obstacle to the flight path to get planned paths. The simulation results show that the proposed method can effectively plan the paths with the constraints of the assumed environment and UAV performances. It is shown that the performance of the proposed method is sensitive to the grid length and safety distance. The optimized values for the grid length and safety distance are 0.5 km and 0.4 km respectively.
Highlights
的连线的斜率 K; 2) 计算路径点 r 与相邻可飞路径点 wb 的连线 斜率 krwb 并求出满足条件(14) 的 w最佳,其中 b 为相 邻可飞路径点的个数
[2] BIRCHER A, ALEXIS K, BURRI M, et al Structural Inspection Path Planning via Iterative Viewpoint Resampling with Appli⁃ cation to Aerial Robotics[ C] ∥IEEE International Conference on Robotics & Automation, 2015
China Safety Science Journal, 2010, 20(10) :47 ( in Chinese)
Summary
依据(4) ~ (5) 式可确定 A,B,C,D 在 x′o′y′ 中 的坐标。 记直线 AB 与直线 CD 在 o′x′ 轴上的交点为 M,若同时满足以下条件:1y′C > 0 & y′D < 0( 或 y′C < 0 & y′D > 0) ;2x′M ≥ 0;3x′M ≤ dAB,则线段 AB 与 CD 相交。 其中,y′C,y′D 分别为 C,D 点在 x′o′y′ 中的 纵坐标,x′M 为 M 点在 x′o′y′ 中的横坐标,dAB 为 AB 的 长度。 Dobs⁃route = min{ dp1-l ,dp2-l ,...dpi-l } 知线段的两端点为 A( xA,yA) ,B( xB,yB) 及点 P( xP, yP ) ,则可计算距离 dPA,dPB 和 dAB 。 点 P 到线段 AB
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