Trajectory Planning of Tilt-Rotor UAV Based on Hybrid Algorithm
Trajectory Planning of Tilt-Rotor UAV Based on Hybrid Algorithm
- New search for: Ren, Binwu
- New search for: Wang, Bo
- New search for: Zhang, Xiayang
- New search for: Zhao, Qijun
- New search for: Lee, Sangchul
- New search for: Han, Cheolheui
- New search for: Choi, Jeong-Yeol
- New search for: Kim, Seungkeun
- New search for: Kim, Jeong Ho
- New search for: Ren, Binwu
- New search for: Wang, Bo
- New search for: Zhang, Xiayang
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Tilt-rotor UAVs are exceptionally suitable for near-ground unmanned transportation and other fields because of their helicopter mode, transition mode and fixed-wing mode. However, the tilt-rotor transition on trajectory planning presents a challenge, as performance constraints of different modes must be considered and a trajectory planning algorithm is required to optimize a collision-free and short trajectory with low fuel consumption and small cost. To address these challenges, this paper adds performance constraints of the tilt-rotor UAV to the hybrid algorithm by combining the A* algorithm and the artificial potential field method; meanwhile, the rationality of trajectory planning is improved by setting the tilt-rotor transition region separately in the global. Simulation results show that a reasonable trajectory can be planned by setting the tilt-transition region by itself and using a hybrid algorithm.
Document information
Trajectory Planning of Tilt-Rotor UAV Based on Hybrid Algorithm
Lect. Notes Electrical Eng.
Asia-Pacific International Symposium on Aerospace Technology ; 2021 ; Korea (Republic of) November 15, 2021 - November 17, 2021
The Proceedings of the 2021 Asia-Pacific International Symposium on Aerospace Technology (APISAT 2021), Volume 2 ; Chapter : 45 ; 619-631
2022-09-30
13 pages
Article/Chapter (Book)
Electronic Resource
English