TY - GEN
T1 - Control and Active and Safety Path Planning of Land-Air Amphibious Unmanned Platform
AU - Liu, Longlong
AU - Zhu, Hua
AU - Zhang, Rui
AU - Xu, Tao
AU - Xu, Bin
AU - Fan, Wei
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - With the rapid development of unmanned aerial and ground vehicle technology, human beings are no longer satisfied with their single function of flying in the air or traveling on the ground. The use of more flexible and specialized environments for land-air-amphibious unmanned platforms has begun to be proposed. However, due to the complexity of spatial obstacle types in unstructured environments, the path planning of the platform is often caught in the target unreachable state, which will generate ground collisions or air accidents. So the platform with accurate and reliable active safety planning is the foundation and essential guarantee to accomplish tasks. In this paper, we based on the hybrid A* algorithm combined with the platform dynamics, the safety distance model of the land-air unmanned platform is established, and an active safety planning algorithm with a comprehensive cost function is proposed to include the two modes of land-air, which can judge the environment and choose the appropriate planning method to guide the land-air amphibious platform to avoid obstacle when it is caught in the local minima region. Finally, the proposed method is verified by a simulation, and the results show that this method takes safety anti-collision measures actively when the platform is caught in the local path planning without a solution to ensure the safety of the platform.
AB - With the rapid development of unmanned aerial and ground vehicle technology, human beings are no longer satisfied with their single function of flying in the air or traveling on the ground. The use of more flexible and specialized environments for land-air-amphibious unmanned platforms has begun to be proposed. However, due to the complexity of spatial obstacle types in unstructured environments, the path planning of the platform is often caught in the target unreachable state, which will generate ground collisions or air accidents. So the platform with accurate and reliable active safety planning is the foundation and essential guarantee to accomplish tasks. In this paper, we based on the hybrid A* algorithm combined with the platform dynamics, the safety distance model of the land-air unmanned platform is established, and an active safety planning algorithm with a comprehensive cost function is proposed to include the two modes of land-air, which can judge the environment and choose the appropriate planning method to guide the land-air amphibious platform to avoid obstacle when it is caught in the local minima region. Finally, the proposed method is verified by a simulation, and the results show that this method takes safety anti-collision measures actively when the platform is caught in the local path planning without a solution to ensure the safety of the platform.
KW - Active Safety Planning
KW - Autonomous Obstacle Avoidance
KW - Intelligent Unmanned System
KW - Land-air Amphibious Platform
UR - http://www.scopus.com/inward/record.url?scp=85199351844&partnerID=8YFLogxK
U2 - 10.1007/978-981-97-3336-1_12
DO - 10.1007/978-981-97-3336-1_12
M3 - Conference contribution
AN - SCOPUS:85199351844
SN - 9789819733354
T3 - Lecture Notes in Electrical Engineering
SP - 128
EP - 142
BT - Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies
A2 - Li, Xiaoduo
A2 - Song, Xun
A2 - Zhou, Yingjiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023
Y2 - 24 November 2023 through 27 November 2023
ER -