| Autor: |
Qianyi Fu, Wenjie Zhao, Shiyu Fang, Yiwen Zhu, Jun Li, Qili Chen |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Applied Sciences, Vol 14, Iss 18, p 8339 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app14188339 |
| Popis: |
In this study, we introduce a novel method for an online trajectory replanning approach for fixed-wing Unmanned Aerial Vehicles (UAVs). Our method integrates moving obstacle predictions within a gradient-based optimization framework. The trajectory is represented by uniformly discretized waypoints, which serve as the optimization variables within the cost function. This cost function incorporates multiple objectives, including obstacle avoidance, kinematic and dynamic feasibility, similarity to the reference trajectory, and trajectory smoothness. To enhance prediction accuracy, we combine physics-based and pattern-based methods for predicting obstacle movements. These predicted movements are then integrated into the online trajectory replanning framework, significantly enhancing the system’s safety. Our approach provides a robust solution for navigating dynamic environments, ensuring both optimal and secure UAV operation. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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