UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC)

Zhexuan Zhang; Teng Long; Zhu Wang; Guangtong Xu; Yan Cao

doi:10.1109/GNCC42960.2018.9019099

UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC)

Zhexuan Zhang, Teng Long, Zhu Wang, Guangtong Xu, Yan Cao

宇航学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

This paper presents an effective method for unmanned aerial vehicle (UAV) dynamic path planning considering moving-target and obstacle-avoidance constraints. In the process of dynamic path planning, moving-target positions are predicted using Kalman filtering algorithm on the receding horizon. Then, anytime repairing sparse A algorithm (AR-SAS) is customized to generate feasible paths from the staring positions to the moving-target positions. By rolling planning, UAVs are able to track the moving targets efficiently. Simulation results demonstrate that the proposed method can generate feasible paths within limited time and has high robustness.

源语言	英语
主期刊名	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
ISBN（电子版）	9781538611715
DOI	https://doi.org/10.1109/GNCC42960.2018.9019099
出版状态	已出版 - 8月 2018
活动	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 - Xiamen, 中国期限: 10 8月 2018 → 12 8月 2018

出版系列

姓名	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

会议

会议	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
国家/地区	中国
市	Xiamen
时期	10/08/18 → 12/08/18

访问文件

10.1109/GNCC42960.2018.9019099

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhang, Z., Long, T., Wang, Z., Xu, G., & Cao, Y. (2018). UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC). 在 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 文章 9019099 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GNCC42960.2018.9019099

Zhang, Zhexuan ; Long, Teng ; Wang, Zhu 等. / UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC). 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018).

@inproceedings{28954d74f5274848b42c1471e315b570,

title = "UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC)",

abstract = "This paper presents an effective method for unmanned aerial vehicle (UAV) dynamic path planning considering moving-target and obstacle-avoidance constraints. In the process of dynamic path planning, moving-target positions are predicted using Kalman filtering algorithm on the receding horizon. Then, anytime repairing sparse A algorithm (AR-SAS) is customized to generate feasible paths from the staring positions to the moving-target positions. By rolling planning, UAVs are able to track the moving targets efficiently. Simulation results demonstrate that the proposed method can generate feasible paths within limited time and has high robustness.",

author = "Zhexuan Zhang and Teng Long and Zhu Wang and Guangtong Xu and Yan Cao",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 ; Conference date: 10-08-2018 Through 12-08-2018",

year = "2018",

month = aug,

doi = "10.1109/GNCC42960.2018.9019099",

language = "English",

series = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

address = "United States",

}

Zhang, Z, Long, T, Wang, Z, Xu, G & Cao, Y 2018, UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC). 在 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018., 9019099, 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Institute of Electrical and Electronics Engineers Inc., 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Xiamen, 中国, 10/08/18. https://doi.org/10.1109/GNCC42960.2018.9019099

UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC). / Zhang, Zhexuan; Long, Teng; Wang, Zhu 等.
2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 9019099 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC)

AU - Zhang, Zhexuan

AU - Long, Teng

AU - Wang, Zhu

AU - Xu, Guangtong

AU - Cao, Yan

PY - 2018/8

Y1 - 2018/8

N2 - This paper presents an effective method for unmanned aerial vehicle (UAV) dynamic path planning considering moving-target and obstacle-avoidance constraints. In the process of dynamic path planning, moving-target positions are predicted using Kalman filtering algorithm on the receding horizon. Then, anytime repairing sparse A algorithm (AR-SAS) is customized to generate feasible paths from the staring positions to the moving-target positions. By rolling planning, UAVs are able to track the moving targets efficiently. Simulation results demonstrate that the proposed method can generate feasible paths within limited time and has high robustness.

AB - This paper presents an effective method for unmanned aerial vehicle (UAV) dynamic path planning considering moving-target and obstacle-avoidance constraints. In the process of dynamic path planning, moving-target positions are predicted using Kalman filtering algorithm on the receding horizon. Then, anytime repairing sparse A algorithm (AR-SAS) is customized to generate feasible paths from the staring positions to the moving-target positions. By rolling planning, UAVs are able to track the moving targets efficiently. Simulation results demonstrate that the proposed method can generate feasible paths within limited time and has high robustness.

UR - http://www.scopus.com/inward/record.url?scp=85082501243&partnerID=8YFLogxK

U2 - 10.1109/GNCC42960.2018.9019099

DO - 10.1109/GNCC42960.2018.9019099

M3 - Conference contribution

AN - SCOPUS:85082501243

T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

Y2 - 10 August 2018 through 12 August 2018

ER -

Zhang Z, Long T, Wang Z, Xu G, Cao Y. UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC). 在 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 9019099. (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018). doi: 10.1109/GNCC42960.2018.9019099

UAV Dynamic Path Planning using Anytime Repairing Sparse A Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC)

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