Collision-free trajectory generation for UAVs using Markov decision process
Collision-free trajectory generation for UAVs using Markov decision process
- New search for: Yu, Xiang
- New search for: Zhou, Xiaobin
- New search for: Zhang, Youmin
- New search for: Yu, Xiang
- New search for: Zhou, Xiaobin
- New search for: Zhang, Youmin
A collision-free trajectory generation method capable of re-planning the trajectories of an unmanned aerial vehicle (UaV) can increase flight safety and decrease the possibility of mission failure. For this purpose, a Markov decision process (MDP) based algorithm combined with backtracking method, is presented to create a safe trajectory in the case of obstacles. Subsequently, a differential flatness method is adopted to smooth the profile of the rerouted trajectory for satisfying the UAV physical constraints. Simulation results demonstrate that the UAV with the proposed strategy can avoid obstacles and track moving targets in a hostile environment.
Document information
Collision-free trajectory generation for UAVs using Markov decision process
2017-06-01
433657 byte
Conference paper
Electronic Resource
English
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