Track Planning Methods for Unmanned Aerial Vehicles Based on Double-Rolling Windows
Yunhe Li, Jiaxin Xiong, Qinyu Zhang · 2017
As a fundamental technique for cruise of unmanned aerial vehicles, track planning is critical for these vehicles to reach their destinations safely without any collision and along tracks within the minimum time. In this paper, a track planning method based on double-rolling windows that integrates global and local planning is proposed for unmanned aerial vehicles under dynamic and uncertain environment. For global planning, roadmaps are modeled according to known global environmental information to search the optimal tracks. Concerning local planning, unmanned aerial vehicles fly along searched global track points, while their tracks are constantly corrected and optimized with fast algorithms according to detailed environmental information that is detected on a real-time basis. By making full use of global priori information and detected real-time information, the track planning method based on double-rolling windows may not only guarantee optimal tracks for unmanned aerial vehicles, but also adapts to dynamic changes to environment and tasks for the purpose of rolling optimization. After simulation and analysis, this method is proven to be effective and feasible for track planning under predetermined environment.