Optimal Trajectory Planning for Unmanned Aerial Vehicles in Three-Dimensional Space

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.

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Three dimensional trajectory planning of unmanned aerial vehicles based on quantum differential search

Proceedings of the 33rd Chinese Control Conference ◽

10.1109/chicc.2014.6896611 ◽

2014 ◽

Cited By ~ 1

Author(s):

Xingwei Qu ◽

Haibin Duan

Keyword(s):

Unmanned Aerial Vehicles ◽

Trajectory Planning ◽

Three Dimensional ◽

Aerial Vehicles

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Influence of the Sun Position and Platform Orientation on the Quality of Imagery Obtained from Unmanned Aerial Vehicles

Remote Sensing ◽

10.3390/rs12061040 ◽

2020 ◽

Vol 12 (6) ◽

pp. 1040 ◽

Cited By ~ 2

Author(s):

Aleksandra Sekrecka ◽

Damian Wierzbicki ◽

Michal Kedzierski

Keyword(s):

Unmanned Aerial Vehicles ◽

Dimensional Space ◽

Three Dimensional ◽

Correction Method ◽

Accurate Information ◽

The Sun ◽

Aerial Vehicles ◽

The Difference ◽

Third Dimension

Images acquired at a low altitude can be the source of accurate information about various environmental phenomena. Often, however, this information is distorted by various factors, so a correction of the images needs to be performed to recreate the actual reflective properties of the imaged area. Due to the low flight altitude, the correction of images from UAVs (unmanned aerial vehicles) is usually limited to noise reduction and detector errors. The article shows the influence of the Sun position and platform deviation angles on the quality of images obtained by UAVs. Tilting the camera placed on an unmanned platform leads to incorrect exposures of imagery, and the order of this distortion depends on the position of the Sun during imaging. An image can be considered in three-dimensional space, where the x and y coordinates determine the position of the pixel and the third dimension determines its exposure. This assumption is the basis for the proposed method of image exposure compensation. A three-dimensional transformation by rotation is used to determine the adjustment matrix to correct the image quality. The adjustments depend on the angles of the platform and the difference between the direction of flight and the position of the Sun. An additional factor regulates the value of the adjustment depending on the ratio of the pitch and roll angles. The experiments were carried out for two sets of data obtained with different unmanned systems. The correction method used can improve the block exposure by up to 60%. The method gives the best results for simple systems, not equipped with lighting compensation systems.

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The Implement of Robotic Cutting Trajectory Plan for Pressure Vessel

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.271-272.570 ◽

2012 ◽

Vol 271-272 ◽

pp. 570-574

Author(s):

Xiao Li Qiu ◽

Yan Xing ◽

Shuang Feng

Keyword(s):

Mathematical Model ◽

Feature Extraction ◽

Trajectory Planning ◽

Pressure Vessel ◽

Dimensional Space ◽

Three Dimensional ◽

Analytical Geometry ◽

Program Language ◽

The Mathematical Model ◽

Three Dimensional Space

Robot is now can used to cut the opening pore of Pressure Vessel and the end of pipe. It is important to solve the problem of robotic cutting trajectory planning for cutting of the three-dimensional curved surface and the intersected curve with groove at the end of pipe. According to the analytical geometry in the three-dimensional space, the mathematical model of intersected curve with groove is presented. Trajectory planning and cutting torch stance is fixed through the feature extraction and kinematics calculation. Using the L-positioner, the problem of robot limiting in cutting process is resolved. As a post operator, a program is developed to automatically generate corresponding robot program to match to the program language format of Kuka and Reis robot. The robot cutting trajectory supported by the above algorithms and program is tested in solidworks.

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