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Volume 2 Issue 2
Apr.  2015

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2015  >  2(2): 173-185
Naifeng Wen, Lingling Zhao, Xiaohong Su and Peijun Ma, "UAV Online Path Planning Algorithm in a Low Altitude Dangerous Environment," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 2, pp. 173-185, 2015.
Citation: Naifeng Wen, Lingling Zhao, Xiaohong Su and Peijun Ma, "UAV Online Path Planning Algorithm in a Low Altitude Dangerous Environment," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 2, pp. 173-185, 2015.
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UAV Online Path Planning Algorithm in a Low Altitude Dangerous Environment

  • School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China

Funds:

This work was supported by National Natural Science Foundation of China (61175027).

    Abstract
  • UAV online path-planning in a low altitude dangerous environment with dense obstacles, static threats (STs) and dynamic threats (DTs), is a complicated, dynamic, uncertain and real-time problem. We propose a novel method to solve the problem to get a feasible and safe path. Firstly STs are modeled based on intuitionistic fuzzy set (IFS) to express the uncertainties in STs. The methods for ST assessment and synthesizing are presented. A reachability set (RS) estimator of DT is developed based on rapidly-exploring random tree (RRT) to predict the threat of DT. Secondly a subgoal selector is proposed and integrated into the planning system to decrease the cost of planning, accelerate the path searching and reduce threats on a path. Receding horizon (RH) is introduced to solve the online path planning problem in a dynamic and partially unknown environment. A local path planner is constructed by improving dynamic domain rapidly-exploring random tree (DDRRT) to deal with complex obstacles. RRT* is embedded into the planner to optimize paths. The results of Monte Carlo simulation comparing the traditional methods prove that our algorithm behaves well on online path planning with high successful penetration probability.

     

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