无人机路径规划

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无人机路径的多篇文章,包含多种遗传、粒子群等算法
无人机路径规划.zip
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内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/629db795a1ab4536ad06fc57/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" 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class="ff1">:&#58883;</span>&#21346;&#25104;&#38451;<span class="ff1">,&#58883;E-mail:&#58883;lcy_xmj@163.com</span></div><div class="t m0 x1 h3 y8 ff2 fs1 fc0 sc0 ls1 ws0">&#25688;&#12288;&#35201;<span class="ff1">:&#58883;<span class="ff3">&#22522;&#20110;&#36716;&#31227;&#30340;&#24555;&#36895;&#25193;&#23637;&#38543;&#26426;<span class="ls2">&#26641;</span></span>(T-RRT<span class="ls2">)</span><span class="ff3">&#31639;&#27861;</span>,&#58883;<span class="ff3">&#33021;&#22815;&#36739;&#24555;&#23547;&#25214;&#21040;&#26426;&#22120;&#20154;&#22312;&#20108;&#32500;&#22797;&#26434;&#25104;&#26412;&#31354;&#38388;&#30340;&#20302;&#21361;&#38505;&#24230;&#36335;&#24452;</span>,</span></div><div class="t m0 x1 h3 y9 ff3 fs1 fc0 sc0 ls3 ws0">&#20294;&#38754;&#23545;&#26080;&#20154;&#26426;&#30340;&#19977;&#32500;&#39134;&#34892;&#24037;&#20917;<span class="ff1">,&#58883;</span>&#20854;&#35268;&#21010;&#32467;&#26524;&#36739;&#24046;<span class="ff1">,&#58883;</span>&#38024;&#23545;&#27492;&#38382;&#39064;<span class="ff1">,&#58883;</span>&#25552;&#20986;&#20102;&#19968;&#31181;&#22522;&#20110;&#25506;&#32034;&#12289;&#21551;&#21457;&#21644;&#36716;&#31227;<span class="ls4">&#30340;</span><span class="ff1">EHT-RRT</span></div><div class="t m0 x1 h3 ya ff1 fs1 fc0 sc0 ls5 ws0">(exploring&#58883;heuristic&#58883;transition-based&#58883;RRT<span class="ls6">)</span><span class="ff3">&#31639;&#27861;</span>.&#58883;<span class="ff3">&#39318;&#20808;</span>,&#58883;<span class="ff3">&#31639;&#27861;<span class="ls6">&#22312;</span></span>T-RR<span class="ls6">T</span><span class="ff3">&#30340;&#22522;&#30784;&#19978;&#24341;<span class="ls6">&#20837;</span></span>A*<span class="ff3">&#31639;&#27861;&#20013;&#30340;&#21551;&#21457;&#24335;&#24605;&#24819;</span>,&#58883;<span class="ff3">&#36827;&#34892;&#21551;</span></div><div class="t m0 x1 h3 yb ff3 fs1 fc0 sc0 ls7 ws0">&#21457;&#24335;&#25104;&#26412;&#25506;&#32034;<span class="ff1">,&#58883;</span>&#20174;&#21361;&#38505;&#24230;&#12289;&#36335;&#24452;&#38271;&#24230;&#12289;&#36335;&#24452;&#20559;&#36716;&#35282;&#24230;&#21644;&#39640;&#24230;&#21464;&#21270;&#20272;&#35745;&#36335;&#24452;&#25104;&#26412;<span class="ff1">,&#58883;</span>&#20197;&#25552;&#39640;&#36335;&#24452;&#36136;&#37327;<span class="ff1">;&#58883;</span>&#25509;&#30528;<span class="ff1">,&#58883;</span>&#21033;&#29992;&#23616;&#37096;&#33410;</div><div class="t m0 x1 h3 yc ff3 fs1 fc0 sc0 ls7 ws0">&#28857;&#28369;&#31227;&#31574;&#30053;<span class="ff1">,&#58883;</span>&#35753;&#36335;&#24452;&#20559;&#21521;&#20302;&#21361;&#38505;&#21306;&#22495;<span class="ff1">,&#58883;</span>&#24182;&#23545;&#27599;&#20010;&#33410;&#28857;&#28155;&#21152;&#23616;&#37096;&#26368;&#22909;&#26041;&#21521;&#23646;&#24615;<span class="ff1">;&#58883;</span>&#26368;&#21518;<span class="ff1">,&#58883;</span>&#36890;&#36807;&#38543;&#26426;&#26041;&#21521;&#12289;&#30446;&#26631;&#26041;&#21521;&#21644;&#23616;&#37096;</div><div class="t m0 x1 h3 yd ff3 fs1 fc0 sc0 ls8 ws0">&#26368;&#22909;&#26041;&#21521;<span class="ff1">,&#58883;<span class="ls9">3</span></span>&#20010;&#26041;&#21521;&#21521;&#37327;&#25913;&#36827;&#26641;&#33410;&#28857;&#25193;&#23637;&#26426;&#21046;<span class="ff1">,&#58883;</span>&#25670;<span class="ls9">&#33073;</span><span class="ff1">T-RR<span class="ls9">T</span></span>&#31639;&#27861;&#22312;&#36335;&#24452;&#23547;&#25214;&#19978;&#30340;&#30450;&#30446;&#24615;<span class="ff1">.&#58883;</span>&#21516;&#26102;<span class="ff1">,&#58883;</span>&#31639;&#27861;&#37319;&#29992;<span class="ls9">&#20102;</span><span class="ff1">20<span class="ls9">%</span></span>&#27010;</div><div class="t m0 x1 h3 ye ff3 fs1 fc0 sc0 lsa ws0">&#29575;&#30340;&#30446;&#26631;&#28857;&#20559;&#32622;<span class="ff1">,&#58883;</span>&#25552;&#21319;&#35268;&#21010;&#25928;&#29575;<span class="ff1">.&#58883;</span>&#20223;&#30495;&#23454;&#39564;&#34920;&#26126;<span class="ff1">,&#58883;</span>&#19982;&#21516;&#26679;&#28155;<span class="lsb">&#21152;</span><span class="ff1">20<span class="lsb">%</span></span>&#30446;&#26631;&#28857;&#20559;&#32622;<span class="lsb">&#30340;</span><span class="ff1">T-RRT</span>&#12289;<span class="ff1">BT-RR<span class="lsb">T<span class="ff3">&#21644;</span></span>T-RRT*</span></div><div class="t m0 x1 h3 yf ff3 fs1 fc0 sc0 lsc ws0">&#31639;&#27861;&#30456;&#27604;<span class="ff1">,&#58883;EHT-RR<span class="lsd">T</span></span>&#31639;&#27861;&#21487;&#29983;&#25104;&#36335;&#24452;&#26356;&#30701;&#12289;&#23433;&#20840;&#24615;&#26356;&#39640;&#12289;&#26356;&#21152;&#24179;&#28369;&#30340;&#19977;&#32500;&#36335;&#24452;<span class="ff1">,&#58883;</span>&#33021;&#26356;&#22909;&#22320;&#35299;&#20915;&#22797;&#26434;&#22478;&#24066;&#29615;&#22659;&#19979;&#30340;</div><div class="t m0 x1 h3 y10 ff3 fs1 fc0 sc0 ls0 ws0">&#26080;&#20154;&#26426;&#19977;&#32500;&#36335;&#24452;&#35268;&#21010;&#38382;&#39064;<span class="ff1">.</span></div><div class="t m0 x1 h3 y11 ff2 fs1 fc0 sc0 ls0 ws0">&#20851;&#38190;&#35789;<span class="ff1">:&#58883;<span class="ff3">&#26059;&#32764;&#26080;&#20154;&#26426;</span>;&#58883;<span class="ff3">&#22797;&#26434;&#25104;&#26412;&#31354;&#38388;</span>;&#58883;<span class="ff3">&#19977;&#32500;&#36335;&#24452;&#35268;&#21010;</span>;&#58883;EHT-RRT;&#58883;T-RRT</span></div><div class="t m0 x1 h8 y12 ff3 fs5 fc0 sc0 lse ws0">&#24341;&#29992;&#26684;&#24335;<span class="ff1">:&#58883;&#58883;</span>&#21346;&#25104;&#38451;<span class="ff1">,</span>&#29579;&#25991;&#26684;<span class="ff1">.</span>&#22797;&#26434;&#22478;&#24066;&#29615;&#22659;&#19979;&#26080;&#20154;&#26426;&#19977;&#32500;&#36335;&#24452;&#35268;&#21010;<span class="ff1">.</span>&#35745;&#31639;&#26426;&#31995;&#32479;&#24212;&#29992;<span class="ff1">,2022,31(5):184&#8211;194.&#58883;<span class="fc1">http://www.c-s-a.org.cn/1003-</span></span></div><div class="t m0 x1 h8 y13 ff1 fs5 fc1 sc0 ls0 ws0">3254/8514.html</div><div class="t m0 x1 h9 y14 ff4 fs3 fc0 sc0 ls0 ws0">3D Path Planning of UAV in Complex Urban Environment</div><div class="t m0 x1 h3 y15 ff1 fs1 fc0 sc0 ls0 ws0">LU&#58883;Cheng-Yang,&#58883;WANG&#58883;Wen-Ge</div><div class="t m0 x1 h7 y16 ff1 fs4 fc0 sc0 ls0 ws0">(College&#58883;of&#58883;Mechanical&#58883;and&#58883;Vehicle&#58883;Engineering,&#58883;Hunan&#58883;University,&#58883;Changsha&#58883;410082,&#58883;China)</div><div class="t m0 x1 h3 y17 ff4 fs1 fc0 sc0 lsf ws0">Abstract<span class="ff1">:&#58883;A&#58883;transition-based&#58883;rapidly-exploring&#58883;random&#58883;tree&#58883;(T-RRT)&#58883;algorithm&#58883;can&#58883;quickly&#58883;find&#58883;a&#58883;low-risk&#58883;path&#58883;for&#58883;a</span></div><div class="t m0 x1 h3 y18 ff1 fs1 fc0 sc0 ls10 ws0">robot&#58883;in&#58883;a&#58883;two-dimensional&#58883;complex&#58883;cost&#58883;space,&#58883;but&#58883;it&#58883;delivers&#58883;a&#58883;poor&#58883;planning&#58883;result&#58883;for&#58883;an&#58883;unmanned&#58883;aerial&#58883;vehicle</div><div class="t m0 x1 h3 y19 ff1 fs1 fc0 sc0 ls11 ws0">(UAV)&#58883;in&#58883;the&#58883;three-dimensional&#58883;flight&#58883;condition.&#58883;To&#58883;solve&#58883;this&#58883;problem,&#58883;this&#58883;study&#58883;proposes&#58883;an&#58883;exploring&#58883;heuristic</div><div class="t m0 x1 h3 y1a ff1 fs1 fc0 sc0 ls12 ws0">transition-based&#58883;RRT&#58883;(EHT-RRT)&#58883;algorithm.&#58883;The&#58883;algorithm&#58883;introduces&#58883;the&#58883;heuristic&#58883;idea&#58883;of&#58883;the&#58883;A*&#58883;algorithm&#58883;on&#58883;the&#58883;basis</div><div class="t m0 x1 h3 y1b ff1 fs1 fc0 sc0 ls13 ws0">of&#58883;the&#58883;T-RRT&#58883;to&#58883;explore&#58883;the&#58883;heuristic&#58883;cost,&#58883;and&#58883;it&#58883;estimates&#58883;the&#58883;path&#58883;cost&#58883;from&#58883;the&#58883;perspectives&#58883;of&#58883;risk&#58883;degree,&#58883;path&#58883;length,</div><div class="t m0 x1 h3 y1c ff1 fs1 fc0 sc0 ls14 ws0">path&#58883;deflection&#58883;angle,&#58883;and&#58883;height&#58883;change&#58883;to&#58883;improve&#58883;the&#58883;quality&#58883;of&#58883;the&#58883;path.&#58883;Then,&#58883;the&#58883;local&#58883;node&#58883;slip&#58883;strategy&#58883;is&#58883;employed</div><div class="t m0 x1 h3 y1d ff1 fs1 fc0 sc0 ls15 ws0">to&#58883;make&#58883;the&#58883;path&#58883;deviate&#58883;to&#58883;the&#58883;low-risk&#58883;area,&#58883;and&#58883;the&#58883;local&#58883;best&#58883;direction&#58883;attribute&#58883;is&#58883;added&#58883;to&#58883;each&#58883;node.&#58883;At&#58883;last,&#58883;the&#58883;tree</div><div class="t m0 x1 h3 y1e ff1 fs1 fc0 sc0 ls16 ws0">node&#58883;exploration&#58883;mechanism&#58883;is&#58883;improved&#58883;through&#58883;three&#58883;directional&#58883;vectors,&#58883;i.e.,&#58883;random&#58883;direction,&#58883;target&#58883;direction,&#58883;and</div><div class="t m0 x1 h3 y1f ff1 fs1 fc0 sc0 ls17 ws0">local&#58883;best&#58883;direction,&#58883;to&#58883;get&#58883;rid&#58883;of&#58883;the&#58883;blindness&#58883;of&#58883;the&#58883;T-RRT&#58883;algorithm&#58883;in&#58883;path&#58883;finding.&#58883;In&#58883;addition,&#58883;a&#58883;target&#58883;point&#58883;offset</div><div class="t m0 x1 h3 y20 ff1 fs1 fc0 sc0 ls18 ws0">with&#58883;a&#58883;probability&#58883;of&#58883;20%&#58883;is&#58883;used&#58883;to&#58883;improve&#58883;the&#58883;planning&#58883;efficiency.&#58883;The&#58883;results&#58883;of&#58883;simulation&#58883;experiments&#58883;show&#58883;that</div><div class="t m0 x1 h3 y21 ff1 fs1 fc0 sc0 ls19 ws0">compared&#58883;with&#58883;T-RRT,&#58883;BT-RRT,&#58883;and&#58883;T-RRT*&#58883;algorithms&#58883;with&#58883;the&#58883;same&#58883;target&#58883;point&#58883;offset&#58883;each,&#58883;the&#58883;EHT-RRT&#58883;algorithm</div><div class="t m0 x1 h3 y22 ff1 fs1 fc0 sc0 ls1a ws0">can&#58883;generate&#58883;a&#58883;shorter,&#58883;safer,&#58883;and&#58883;smoother&#58883;3D&#58883;path&#58883;and&#58883;better&#58883;solve&#58883;the&#58883;3D&#58883;path&#58883;planning&#58883;problem&#58883;of&#58883;UAV&#58883;in&#58883;complex</div><div class="t m0 x1 h3 y23 ff1 fs1 fc0 sc0 ls0 ws0">urban&#58883;environments.</div><div class="t m0 x1 h3 y24 ff4 fs1 fc0 sc0 ls1b ws0">Key words<span class="ff1">:&#58883;rotary-wing&#58883;UAV;&#58883;complex&#58883;cost&#58883;space;&#58883;3D&#58883;path&#58883;planning;&#58883;exploring&#58883;heuristic&#58883;transition-based&#58883;RRT&#58883;(EHT-</span></div><div class="t m0 x1 h3 y25 ff1 fs1 fc0 sc0 ls0 ws0">RRT);&#58883;transition-based&#58883;rapidly-exploring&#58883;random&#58883;tree&#58883;(T-RRT)</div><div class="t m0 x1 ha y26 ff1 fs6 fc1 sc0 ls0 ws0">&#58883;</div><div class="t m0 x1 hb y27 ff3 fs7 fc0 sc0 ls0 ws0">&#35745;&#31639;&#26426;&#31995;&#32479;&#24212;&#29992;<span class="ff1">&#58883;ISSN&#58883;1003-3254,&#58883;CODEN&#58883;CSAOBN<span class="_ _0"> </span>E-mail:&#58883;<span class="fc1">csa@iscas.ac.cn</span></span></div><div class="t m0 x1 hb y28 ff1 fs7 fc0 sc0 ls0 ws0">Computer&#58883;Systems&#58883;&amp;&#58883;Applications,2022,31(5):184&#8722;194&#58883;[doi:&#58883;<span class="fc1">10.15888/j.cnki.csa.008514</span>]<span class="_ _1"> </span><span class="fc1">http://www.c-s-a.org.cn</span></div><div class="t m0 x1 hb y29 ff1 fs7 fc0 sc0 ls0 ws0">&#169;<span class="ff3">&#20013;&#22269;&#31185;&#23398;&#38498;&#36719;&#20214;&#30740;&#31350;&#25152;&#29256;&#26435;&#25152;&#26377;</span>.<span class="_ _2"> </span>Tel:&#58883;+86-10-62661041</div><div class="t m0 x3 hb y2a ff3 fs7 fc0 sc0 ls0 ws0">&#9312;<span class="ff1">&#58883;</span>&#22522;&#37329;&#39033;&#30446;<span class="ff1">:&#58883;</span>&#28246;&#21335;&#30465;&#33258;&#28982;&#31185;&#23398;&#22522;<span class="ls1c">&#37329;</span><span class="ff1">(2020JJ4201)</span></div><div class="t m0 x4 hb y2b ff3 fs7 fc0 sc0 ls0 ws0">&#25910;&#31295;&#26102;&#38388;<span class="ff1">:&#58883;2021-07-15;&#58883;</span>&#20462;&#25913;&#26102;&#38388;<span class="ff1">:&#58883;2021-08-24;&#58883;</span>&#37319;&#29992;&#26102;&#38388;<span class="ff1">:&#58883;2021-10-09;&#58883;cs<span class="ls1c">a</span></span>&#22312;&#32447;&#20986;&#29256;&#26102;&#38388;<span class="ff1">:&#58883;2022-02-25</span></div><div class="t m0 x3 h7 y2c ff1 fs4 fc0 sc0 ls0 ws0">184<span class="fs7">&#58883;<span class="ff3">&#36719;&#20214;&#25216;&#26415;</span>&#8226;<span class="ff3">&#31639;&#27861;</span>&#58883;Software&#58883;Technique&#8226;Algorithm</span></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a></div><div class="pi" data-data='{"ctm":[1.612903,0.000000,0.000000,1.612903,1.546774,-24.748226]}'></div></div> </body> </html>
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