ACTA AERONAUTICAET ASTRONAUTICA SINICA >
A rapid trajectory planning algorithm for UAV in urban areas with wind fields
Received date: 2015-04-29
Revised date: 2015-08-26
Online published: 2015-08-29
Supported by
National Natural Science Foundation of China(61473233)
A rapid trajectory planning algorithm for small unmanned aerial vehicles(UAVs) in urban areas with wind fields is proposed. The dense obstacles and complex wind fields in the urban area have posed strict requirements on the real-time capability and tracking performance of trajectory planning. Firstly, the kinematic model of the fixed-wing UAV is reasonably simplified to ensure the efficiency of the trajectory planning algorithm. Based on the basic principles of the constrained optimal control theory, the optimal trajectory in the presence of obstacles cannot be directly and fully characterized. And it is shown that the optimal trajectory can be reasonably approximated using spiral and straight line segments. Then a rapid three-dimensional near-optimal trajectory planning algorithm in urban areas is proposed. From a perspective of planning, the new trajectory planning standards and constraints in wind fields are presented. The comparison simulations show the efficiency of the proposed algorithm. Trajectory tracking performance simulations with and without wind fields are also implemented using a 6 degree-of-freedom(DOF) UAV model. And the numerical results also show the effectiveness of the proposed planning standards in wind fields.
Key words： unmanned aerial vehicle; fast algorithms; optimal control; urban area; wind effect
LI Yan , WANG Zhong , QI Yanjun , WANG Yixin . A rapid trajectory planning algorithm for UAV in urban areas with wind fields[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016 , 37(3) : 949 -959 . DOI: 10.7527/S1000-6893.2015.0236
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