| Autor: |
Kwang-Jin Yang, Si-Tai Kim, Dae-Han Jung |
| Rok vydání: |
2012 |
| Předmět: |
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| Zdroj: |
Journal of the Korea Institute of Military Science and Technology. 15:424-434 |
| ISSN: |
1598-9127 |
| Popis: |
This paper presents a path planning algorithm of the unmanned aerial vehicle for the neutralization of the enemy firepower. The long range firepower of the ememy is usually located at the rear side of the mountain which is difficult to bomb. The path planner not only consider the differential constraints of the Unmanned Aerial Vehicle (UAV) but also consider the final approaching angle constraint. This problem is easily solved by incorporating the analytical upper bounded continuous curvature path smoothing algorithm into the Rapidely Exloring Random Tree (RRT) planner. The proposed algorithm can build a feasible path satisfying the kinematic constraints of the UAV on the fly. In addition, the curvatures of the path are continuous over the whole path. Simulation results show that the proposed algorithm can generate a feasible path of the UAV for the bombing mission regardless of the posture of the tunnel.Keywords : Path Planning(경로계획), Unmanned Aerial Vehicle(무인항공기), Nonholonomic Constraints(비 홀로노믹 제한조건), Rapidely Exloring Random Tree(급속확산 랜덤트리) |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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