机器人2013，Vol.35Issue(1)：107-114,8.DOI:10.3724/SP.J.1218.2013.00107
Differential Evolution Based Receding Horizon Control for UAV Motion Planning in Dynamic Environments
Differential Evolution Based Receding Horizon Control for UAV Motion Planning in Dynamic Environments
摘要
Abstract
This paper presents online motion planning for UAV (unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control problem.Receding horizon control (RHC) based on differential evolution (DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in flight.Then flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective function.Simulation results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.关键词
unmanned aerial vehicle/ motion planning/ receding horizon control/ differential evolutionKey words
unmanned aerial vehicle/ motion planning/ receding horizon control/ differential evolution引用本文复制引用
ZHANG Xing,BAI YongQiang,XIN Bin,CHEN Jie..Differential Evolution Based Receding Horizon Control for UAV Motion Planning in Dynamic Environments[J].机器人,2013,35(1):107-114,8.基金项目
National Science Fund for Distinguished Young Scholars (60925011) （60925011）
