UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments

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	UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments
	Yang L(杨亮); Qi JT(齐俊桐); Cao Y(曹阳); He YQ(何玉庆); Han JD(韩建达); Xiao JZ(肖继忠)
	2015
会议名称	8th International Conference on Intelligent Robotics and Applications (ICIRA)
会议日期	AUG 24-27, 2015
会议地点	Portsmouth, ENGLAND
页码	248-259
中文摘要	A novel kinodynamic planning framework, which covers path panning, smoothing, tracking and emergency threat managing, is proposed. The framework is proposed based on sampling-based algorithm, which is improved to ensure dynamics feasibility as well as emergency threat management ability by applying Bezier curve and Extending Forbidden respectively. The Bezier curve guarantees both G(1) and G(2) continuity to decrease the tracking error of our LQI based tracking controller, where two Bezier curves with different continuity order are discussed. Extending Forbidden is firstly proposed by us to enable generating multiple paths of sampling-based algorithms, thus support on-line switching to avoid emergency threats. Our main contribution is that the proposed framework is a combination of path planning with emergency threat managing, where a time compromised moving obstacle avoiding method is proposed. Results proves the efficiency of the proposed algorithm in generating feasible trajectory for SERVOHELI-40, which not only guarantees kinematic feasible of avoiding obstacles, but also can ensure dynamics feasibility.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
会议录出版者	SPRINGER-VERLAG
会议录出版地	BERLIN
语种	英语
ISSN号	0302-9743
ISBN号	978-3-319-22876-1; 978-3-319-22875-4
WOS记录号	WOS:000363957900022
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17214]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yang L,Qi JT,Cao Y,et al. UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments[C]. 见:8th International Conference on Intelligent Robotics and Applications (ICIRA). Portsmouth, ENGLAND. AUG 24-27, 2015.