TY - JOUR
T1 - Developing an effective algorithm for dynamic UAV path planning with incomplete threat information
AU - Gao, X.
AU - Ren, J.
AU - Chen, D.
PY - 2012/4
Y1 - 2012/4
N2 - In this paper the problem of online dynamic UAV path planning is studied for the situation where a manoeuvring pop-up threat exists and information about this threat is incomplete. The problem is addressed by integrating a structure-varying discrete dynamic Bayesian network (SVDDBN) into the model prediction control (MPC) algorithm. The SVDDBN is used to construct online a dynamic threat assessment model by estimating and predicting the states of the manoeuvring pop-up threat. The output of this model is then fed into the MPC algorithm for effective path planning. The results obtained in the performed simulation studies demonstrate the excellent performance of the proposed algorithm.
AB - In this paper the problem of online dynamic UAV path planning is studied for the situation where a manoeuvring pop-up threat exists and information about this threat is incomplete. The problem is addressed by integrating a structure-varying discrete dynamic Bayesian network (SVDDBN) into the model prediction control (MPC) algorithm. The SVDDBN is used to construct online a dynamic threat assessment model by estimating and predicting the states of the manoeuvring pop-up threat. The output of this model is then fed into the MPC algorithm for effective path planning. The results obtained in the performed simulation studies demonstrate the excellent performance of the proposed algorithm.
KW - Dynamic threat assessment model
KW - Manoeuvring pop-up threat
KW - Model predictive control
KW - Structure-varying discrete dynamic Bayesian network
UR - http://www.scopus.com/inward/record.url?scp=84863266334&partnerID=8YFLogxK
U2 - 10.1177/0954410011410151
DO - 10.1177/0954410011410151
M3 - 文章
AN - SCOPUS:84863266334
SN - 0954-4100
VL - 226
SP - 413
EP - 421
JO - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
IS - 4
ER -