دورية أكاديمية
Global Path Planning Of Fixed-wing UAV Based On Improved RRT∗ Algorithm
| العنوان: | Global Path Planning Of Fixed-wing UAV Based On Improved RRT∗ Algorithm |
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| المؤلفون: | Xiangju Jiang, Bingde Huang |
| المصدر: | Journal of Applied Science and Engineering, Vol 26, Iss 10, Pp 1441-1450 (2023) |
| بيانات النشر: | Tamkang University Press, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Engineering (General). Civil engineering (General) LCC:Chemical engineering LCC:Physics |
| مصطلحات موضوعية: | fixed-wing uav, rrt∗ algorithm, path planning, b-spline curve, Engineering (General). Civil engineering (General), TA1-2040, Chemical engineering, TP155-156, Physics, QC1-999 |
| الوصف: | Aiming at the problems that RRT∗ algorithm has poor directionality in path planning and the path is not sufficient for UAV flight, an improved RRT∗ algorithm is proposed by analyzing the kinematics model of fixed-wing UAV. Firstly, the sampling function is introduced to make the random tree grow towards the target point, which improves the efficiency of path search. Secondly, the expansion of algorithm nodes is constrained according to the flight dynamics of fixed-wing UAV, and then b-spline curve is used to optimize the path suitable for UAV flight. Finally, the feasibility of the algorithm is verified in two-dimensional and three-dimensional environments. The simulation results show that the improved RRT∗ algorithm greatly reduces the time cost of path planning and is a fast and effective global path planning algorithm. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2708-9967 2708-9975 |
| العلاقة: | http://jase.tku.edu.tw/articles/jase-202310-26-10-0009Test; https://doaj.org/toc/2708-9967Test; https://doaj.org/toc/2708-9975Test |
| DOI: | 10.6180/jase.202310_26(10).0009 |
| الوصول الحر: | https://doaj.org/article/b0ae11073de24101813772c17495beb8Test |
| رقم الانضمام: | edsdoj.b0ae11073de24101813772c17495beb8 |
| قاعدة البيانات: | Directory of Open Access Journals |
| تدمد: | 27089967 27089975 |
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| DOI: | 10.6180/jase.202310_26(10).0009 |