Lagrange relaxation for UAV path planning
Xuan Liu · Computer Engineering and Applications Journal · 2012
It proposes a path planning algorithm based on an urban building block model for Unmanned Air Vehicle(UAV for short).The proposed algorithm mainly contains two aspects.First the algorithm simulates the buildings in urban environment with cylinders,so it's able to calculate the block area of the relative position between the buildings and UAV.In addition,the total shading area isn't the addition of each shading area,instead it's a union set.The algorithm calculates the union set by using a program.Second,after calculating the curved surface of UAV's flight plane,this algorithm proposes an optimal path planning method based on Lagrange relaxation of UAV.The path is a polygonal line along the equant diagonal line on the searching area of UAV.The shading area of this path is minimal.The Matlab simulation result suggests this algorithm is efficient.