3D multipath planning for UAV based on network graph |
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| Authors: | Xin Liu Cheng ping Zhou Ming yue Ding |
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| Institution: | 1. Institute for Pattern Recognition and Artificial Intelligence, Key Laboratory of National Defense Science and Technology for Multi-spectral Information Processing Technologies, Huazhong University of Science and Technology, Wuhan 430074, P. R. China
2. School of Life Science and Technology, Image Processing and Intelligence Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Wuhan 430072, P. R. China |
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| Abstract: | According to the characteristic and the requirement of multipath planning,a new multipath planning method is proposed based on network.This method includes two steps:the construction of network and multipath searching.The construction of network proceeds in three phases:the skeleton extraction of the configuration space,the judgment of the cross points in the skeleton and how to link the cross points to form a network.Multipath searching makes use of the network and iterative penalty method (IPM) to plan multi-paths,and adjusts the planar paths to satisfy the requirement of maneuverability of unmanned aerial vehicle (UAV).In addition,a new height planning method is proposed to deal with the height planning of 3D route.The proposed algorithm can find multiple paths automatically according to distribution of terrain and threat areas with high efficiency.The height planning can make 3D route following the terrain.The simulation experiment illustrates the feasibility of the proposed method. |
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| Keywords: | path planning skeleton graph iterative penalty method (IPM) network graph |
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