Abstract
Trajectory planning is crucial for Unmanned Aerial Vehicles (UAVs) applications. It is still a challenge to plan UAV trajectories in large-scale complicated three-dimensional urban environments, mainly due to the complexities associated with handling a tremendous number of obstacles. To relieve this difficulty, this study proposes a two-stage control network approach. The first stage is an offline planning stage, aiming at constructing a discrete control network in the working environment achieving collision avoidance and meanwhile considering UAV kinetic properties. The second stage is an online planning stage, where a feasible corridor is generated based on the shortest path in the control network, and the obtained route is smoothed by a three-dimensional Dubins curve algorithm; then, a time-optimal trajectory generation algorithm is applied to trace the designed spatial path. Numerical studies based on a virtual city as well as a large-scale real-world urban area are conducted. The results show that the proposed approach is able to identify reasonable UAV trajectories within negligible computational time.
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More From: Transportation Research Part C: Emerging Technologies
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