Title: Track planning of multi-rotor unmanned aerial vehicle in the complex environment space

Authors: Yue Chu; Zhonghua Han; Liying Yang

Addresses: Faculty of Information and Control Engineering, Shenyang Jianzhu University, Shenyang, 110168, China; State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110168, China ' Faculty of Information and Control Engineering, Shenyang Jianzhu University, Shenyang, 110168, China ' State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China; Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China

Abstract: Aiming at the dynamic track planning problem of multi-rotor unmanned aerial vehicle (UAV) in complex environment space, this paper proposes a "high-dimensionality-reduced space environment modelling method", in this way, the complexity of environment model will be reduced and the planning efficiency will be improved. In addition, the paper proposes an improved artificial potential field (APF) method. First obtain overall environmental information through the A* algorithm, and optimise the global path nodes. Then improve the potential function of the APF method, and add the attraction of the global path to the UAV, so that it can guide the UAV movement smoothly. By analysing the simulation results, it can be found that this method can make up for the shortcomings of APF method in path guidance to a certain extent. The effective combination of the two algorithms improves the UAV's path planning ability in complex environments.

Keywords: environment modelling; track planning; A* algorithm; APF; artificial potential field; optimise path nodes; obstacle avoidance.

DOI: 10.1504/IJMIC.2021.119038

International Journal of Modelling, Identification and Control, 2021 Vol.37 No.1, pp.57 - 68

Received: 17 Sep 2020
Accepted: 22 Dec 2020

Published online: 13 Nov 2021 *

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