Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/162964
Title: An autonomous path planning method for unmanned aerial vehicle based on a tangent intersection and target guidance strategy
Authors: Liu, Huan
Li, Xiamiao
Fan, Mingfeng
Wu, Guohua
Pedrycz, Witold
Suganthan, Ponnuthurai Nagaratnam
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2020
Source: Liu, H., Li, X., Fan, M., Wu, G., Pedrycz, W. & Suganthan, P. N. (2020). An autonomous path planning method for unmanned aerial vehicle based on a tangent intersection and target guidance strategy. IEEE Transactions On Intelligent Transportation Systems, 23(4), 3061-3073. https://dx.doi.org/10.1109/TITS.2020.3030444
Journal: IEEE Transactions on Intelligent Transportation Systems
Abstract: Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this article proposes a novel autonomous path planning algorithm based on a tangent intersection and target guidance strategy (APPATT). Guided by a target, the elliptic tangent graph method is used to generate two sub-paths, one of which is selected based on heuristic rules when confronting an obstacle. The UAV flies along the selected sub-path and repeatedly adjusts its flight path to avoid obstacles through this way until the collision-free path extends to the target. Considering the UAV kinematic constraints, the cubic B-spline curve is employed to smooth the waypoints for obtaining a feasible path. Compared with A∗, PRM, RRT and VFH, the experimental results show that APPATT can generate the shortest collision-free path within 0.05 seconds for each instance under static environments. Moreover, compared with VFH and RRTRW, APPATT can generate satisfactory collision-free paths under uncertain environments in a nearly real-time manner. It is worth noting that APPATT has the capability of escaping from simple traps within a reasonable time.
URI: https://hdl.handle.net/10356/162964
ISSN: 1524-9050
DOI: 10.1109/TITS.2020.3030444
Schools: School of Electrical and Electronic Engineering 
Rights: © 2020 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles

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