Research on Flight Path Planning Method of Indoor UAV based on Improved Optimization Algorithm

April 26, 2020    0 comment


Proceedings of The 2nd International Conference on Applied Research in Management, Business and Economics

Year: 2019

DOI:

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Research on Flight Path Planning Method of Indoor UAV based on Improved Optimization Algorithm

Haixin Wang1,2, Jianxin Shen1, *

 

ABSTRACT: 

 

Abstract

For indoor environment, there is no GPS signal or weak information, which results in limited navigation of rotorcraft. In this paper, an improved artificial potential field method is proposed, which adopts the regulation factor to solve the problem of unreachable target. Different calculation models of repulsion force are established to make the repulsion force at the target point zero. The total force of potential energy field received by UAV at the target point is the global minimum and the improved artificial potential field method is simulation in the simulation environment. The results show that the improved artificial potential field method can meet the requirements of UAV path planning in targets and obstacles, which lays a foundation for the research of UAV path planning algorithm.

Keywords: rotary-wing UAV, indoor environment, path programming, improved artificial potential field method

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Haixin Wang

College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

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Jianxin Shen

School of Mechanical & Aerospace Engineering, Queen’s University Belfast, Belfast, UK

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