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    국내학술지 제목 게시판 내용
    제목(국문) 실제지형을 고려한 고정익 무인항공기의 최적 경로계획
    제목(영문) Optimal Path Planner Considering Real Terrain for Fixed-Wing UAVs
    저자 이다솔 (Dasol Lee ,Aerospace Engineering, Korea Advanced Institute of Science and Technology ) ▷공저자네트워크등록하기
    심현철 (H. C. Shim ,KAIST ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-RRT* algorithm to three-dimensional planner. The spline-RRT* algorithm is a RRT* based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.

    keyword optimal path planning, fixed-wing UAV, real terrain, RRT*, spline-RRT*
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 1272-1277
    발표년도 2014
    국문File 국문다운로드
    영문File
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