运动规划
计算机科学
路径(计算)
职位(财务)
调度(生产过程)
航空航天工程
人工智能
数学优化
工程类
数学
机器人
财务
经济
程序设计语言
作者
Mohammad Al Forkan,M. M. Rizvi,Mohammad Abul Mansur Chowdhury
出处
期刊:PLOS ONE
[Public Library of Science]
日期:2022-10-14
卷期号:17 (10): e0276105-e0276105
被引量:1
标识
DOI:10.1371/journal.pone.0276105
摘要
The path planning problem for unmanned aerial vehicles (UAVs) is important for scheduling the UAV missions. This paper presents an optimal path planning model for UAV to control its direction during target touring, where UAV and target are at the same altitude. Geometric interpretation of the given model is provided when the vehicles consider connecting an initial position to the destination position with specific target touring. We develop a nonlinear constrained model based on an arc parameterization approach to determine the UAV's optimal path touring a target. The model is then extended to touring finite numbers of targets and optimizing the routes. The model is found reliable through several simulations. Numerical experiments are conducted and we have shown that the UAV's generated path satisfies vehicle dynamics constraints, tours the targets, and arrives at its destination.
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