Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method
In this paper, a three-dimensional path planning problem of an unmanned aerial vehicle under constant thrust is studied based on the artificial fluid method. The effect of obstacles on the original fluid field is quantified by the perturbation matrix, the streamlines can be regarded as the planned p...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2020/4269193 |
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| _version_ | 1832547118448902144 |
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| author | Yongqiang Qi Shuai Li Yi Ke |
| author_facet | Yongqiang Qi Shuai Li Yi Ke |
| author_sort | Yongqiang Qi |
| collection | DOAJ |
| description | In this paper, a three-dimensional path planning problem of an unmanned aerial vehicle under constant thrust is studied based on the artificial fluid method. The effect of obstacles on the original fluid field is quantified by the perturbation matrix, the streamlines can be regarded as the planned path for the unmanned aerial vehicle, and the tangential vector and the disturbance matrix of the artificial fluid method are improved. In particular, this paper addresses a novel algorithm of constant thrust fitting which is proposed through the impulse compensation, and then the constant thrust switching control scheme based on the isochronous interpolation method is given. It is proved that the planned path can avoid all obstacles smoothly and swiftly and reach the destination eventually. Simulation results demonstrate the effectiveness of this method. |
| format | Article |
| id | doaj-art-ec0b015222824693b9a7bc3b2fa36280 |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-ec0b015222824693b9a7bc3b2fa362802025-02-03T06:46:07ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2020-01-01202010.1155/2020/42691934269193Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid MethodYongqiang Qi0Shuai Li1Yi Ke2China University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaIn this paper, a three-dimensional path planning problem of an unmanned aerial vehicle under constant thrust is studied based on the artificial fluid method. The effect of obstacles on the original fluid field is quantified by the perturbation matrix, the streamlines can be regarded as the planned path for the unmanned aerial vehicle, and the tangential vector and the disturbance matrix of the artificial fluid method are improved. In particular, this paper addresses a novel algorithm of constant thrust fitting which is proposed through the impulse compensation, and then the constant thrust switching control scheme based on the isochronous interpolation method is given. It is proved that the planned path can avoid all obstacles smoothly and swiftly and reach the destination eventually. Simulation results demonstrate the effectiveness of this method.http://dx.doi.org/10.1155/2020/4269193 |
| spellingShingle | Yongqiang Qi Shuai Li Yi Ke Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method Discrete Dynamics in Nature and Society |
| title | Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method |
| title_full | Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method |
| title_fullStr | Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method |
| title_full_unstemmed | Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method |
| title_short | Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method |
| title_sort | three dimensional path planning of constant thrust unmanned aerial vehicle based on artificial fluid method |
| url | http://dx.doi.org/10.1155/2020/4269193 |
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