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Volume 41 Issue 7
Jul.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(7): 1183-1187.
LIANG Xiao, WANG Honglun, MENG Guanglei, et al. Path planning for UAV under three-dimensional real terrain in rescue mission[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(7): 1183-1187. doi: 10.13700/j.bh.1001-5965.2014.0479(in Chinese)
Citation: LIANG Xiao, WANG Honglun, MENG Guanglei, et al. Path planning for UAV under three-dimensional real terrain in rescue mission[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(7): 1183-1187. doi: 10.13700/j.bh.1001-5965.2014.0479(in Chinese)
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Path planning for UAV under three-dimensional real terrain in rescue mission

doi: 10.13700/j.bh.1001-5965.2014.0479
  • 1.

    School of Automation, Shenyang Aerospace University, Shenyang 110136, China

  • 2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 30 Jul 2014
  • Rev Recd Date: 20 Nov 2014
  • Publish Date: 20 Jul 2015
    Abstract
  • Basing on the capability of three-dimensional flight and planning of optimal path, unmanned aerial vehicles (UAVs) can reach the disaster areas within shorter time than ground vehicles, which will improve the efficiency of rescue. Firstly, according to the real geographical environment, terrain is modeled by a mesh uniform method based on UAV constraints. Secondly, a data structure which is suitable for calculation is designed based on the characteristics of terrain data. Finally, the integrative performance function includes the deviation cost, height cost, terrain following/avoidance cost, threat cost and security distance cost. Both methods of waypoints cross and grid search instead of waypoints are engaged in the improved ant colony algorithm to make three-dimensional UAV path planning. The simulation results show that the method can deal with three-dimensional terrain data directly. While maintaining the topography of the premise, it can find the three-dimensional optimal path of UAV and improve the practical value of path planning technology.

     

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