TY - GEN
T1 - Study on real-time safe route planning method for quad-rotor UAV among buildings
AU - Wei, Bosong
AU - Zhang, Qirui
AU - Xu, Zhuofan
AU - Wang, Liang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - Collision avoidance is becoming a severe safe challenge for the small UAVs flying among urban buildings. For flight in an unknown urban area, real-time safe route planning method is needed urgently. This paper just focuses on this problem. Based on the basic principle of Laguerre diagram, the Laguerre route is firstly induced for a single prepared flight aisle between two buildings. And then the safest Laguerre route is found by analyzing the collision avoidance safe error of routes. Furthermore, a real-time safe route planning method based on Laguerre diagram can be built for the collision avoidance of quad-rotor UAV in urban areas. The presented method has been shown that its route safe property is fine by the simulation results, and it can be applied to make a quad-rotor UAV to fly through an unknown urban area.
AB - Collision avoidance is becoming a severe safe challenge for the small UAVs flying among urban buildings. For flight in an unknown urban area, real-time safe route planning method is needed urgently. This paper just focuses on this problem. Based on the basic principle of Laguerre diagram, the Laguerre route is firstly induced for a single prepared flight aisle between two buildings. And then the safest Laguerre route is found by analyzing the collision avoidance safe error of routes. Furthermore, a real-time safe route planning method based on Laguerre diagram can be built for the collision avoidance of quad-rotor UAV in urban areas. The presented method has been shown that its route safe property is fine by the simulation results, and it can be applied to make a quad-rotor UAV to fly through an unknown urban area.
UR - http://www.scopus.com/inward/record.url?scp=85015204013&partnerID=8YFLogxK
U2 - 10.1109/CGNCC.2016.7828935
DO - 10.1109/CGNCC.2016.7828935
M3 - 会议稿件
AN - SCOPUS:85015204013
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 1067
EP - 1071
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -