Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system

IMR OpenIR

	Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system
其他题名	Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system
	Wang Honglun 1; Lyu Wentao 1; Peng Yao 1; Xiao Liang 3; Chang Liu 1
	2015
发表期刊	Chinese Journal of Aeronautics
ISSN	1000-9361
卷号	28 期号:1 页码:229-239
摘要	This paper proposes a method for planning the three-dimensional path for low-flying unmanned aerial vehicle (UAV) in complex terrain based on interfered fluid dynamical system (IFDS) and the theory of obstacle avoidance by the flowing stream. With no requirement of solutions to fluid equations under complex boundary conditions, the proposed method is suitable for situations with complex terrain and different shapes of obstacles. Firstly, by transforming the mountains, radar and anti-aircraft fire in complex terrain into cylindrical, conical, spherical, parallelepiped obstacles and their combinations, the 3D low-flying path planning problem is turned into solving streamlines for obstacle avoidance by fluid flow. Secondly, on the basis of a unified mathematical expression of typical obstacle shapes including sphere, cylinder, cone and parallelepiped, the modulation matrix for interfered fluid dynamical system is constructed and 3D streamlines around a single obstacle are obtained. Solutions to streamlines with multiple obstacles are then derived using weighted average of the velocity field. Thirdly, extra control force method and virtual obstacle method are proposed to deal with the stagnation point and the case of obstacles’ overlapping respectively. Finally, taking path length and flight height as sub-goals, genetic algorithm (GA) is used to obtain optimal 3D path under the maneuverability constraints of the UAV. Simulation results show that the environmental modeling is simple and the path is smooth and suitable for UAV. Theoretical proof is also presented to show that the proposed method has no effect on the characteristics of fluid avoiding obstacles.
其他摘要	This paper proposes a method for planning the three-dimensional path for low-flying unmanned aerial vehicle (UAV) in complex terrain based on interfered fluid dynamical system (IFDS) and the theory of obstacle avoidance by the flowing stream. With no requirement of solutions to fluid equations under complex boundary conditions, the proposed method is suitable for situations with complex terrain and different shapes of obstacles. Firstly, by transforming the mountains, radar and anti-aircraft fire in complex terrain into cylindrical, conical, spherical, parallelepiped obstacles and their combinations, the 3D low-flying path planning problem is turned into solving streamlines for obstacle avoidance by fluid flow. Secondly, on the basis of a unified mathematical expression of typical obstacle shapes including sphere, cylinder, cone and parallelepiped, the modulation matrix for interfered fluid dynamical system is constructed and 3D streamlines around a single obstacle are obtained. Solutions to streamlines with multiple obstacles are then derived using weighted average of the velocity field. Thirdly, extra control force method and virtual obstacle method are proposed to deal with the stagnation point and the case of obstacles’ overlapping respectively. Finally, taking path length and flight height as sub-goals, genetic algorithm (GA) is used to obtain optimal 3D path under the maneuverability constraints of the UAV. Simulation results show that the environmental modeling is simple and the path is smooth and suitable for UAV. Theoretical proof is also presented to show that the proposed method has no effect on the characteristics of fluid avoiding obstacles.
关键词	Fluid dynamical system Obstacle avoidance Potential field Three-dimensional path planning UAV maneuverability Unmanned aerial vehicle Motor vehicles. Aeronautics. Astronautics TL1-4050
收录类别	CSCD
语种	英语
资助项目	[National Natural Science Foundation of China]
CSCD记录号	CSCD:5420282
引用统计	被引频次：16[CSCD] [CSCD记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/150834
专题	中国科学院金属研究所
作者单位	1.北京航空航天大学 2.中国科学院南京地理与湖泊研究所 3.中国科学院金属研究所
推荐引用方式 GB/T 7714	Wang Honglun,Lyu Wentao,Peng Yao,et al. Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system[J]. Chinese Journal of Aeronautics,2015,28(1):229-239.
APA	Wang Honglun,Lyu Wentao,Peng Yao,Xiao Liang,&Chang Liu.(2015).Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system.Chinese Journal of Aeronautics,28(1),229-239.
MLA	Wang Honglun,et al."Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system".Chinese Journal of Aeronautics 28.1(2015):229-239.