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A 3D Flight Route Planning Algorithm for UAV Based on the Idea of Resilience

Published: 04 February 2022 Publication History

Abstract

Aiming at the situation that UAV will fly close to obstacles when using traditional A* algorithm to plan its flight trajectory in the environment of urban buildings, a resilience based route planning algorithm (RRPA) inspired by the idea of resilience system is proposed, which optimizes the cost evaluation function and track generation. A new obstacle potential risk assessment function is added, which starts to judge when the UAV approaches the obstacle, so that the UAV can keep a certain distance from the obstacle at any time, and then the track is smoothed and optimized by interpolation fitting method. Monte Carlo random test shows that compared with the traditional A* track planning algorithm, the minimum distance between UAV and obstacles is increased by 7 times.

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  • (2022)An Anti-Disturbance Resilience Enhanced Algorithm for UAV 3D Route PlanningSensors10.3390/s2206215122:6(2151)Online publication date: 10-Mar-2022

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    cover image ACM Other conferences
    ICCPR '21: Proceedings of the 2021 10th International Conference on Computing and Pattern Recognition
    October 2021
    393 pages
    ISBN:9781450390439
    DOI:10.1145/3497623
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    Published: 04 February 2022

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    Author Tags

    1. Improved A* algorithm
    2. Resilience system
    3. Spline Interpolation fitting
    4. UAV resilience

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    • (2022)An Anti-Disturbance Resilience Enhanced Algorithm for UAV 3D Route PlanningSensors10.3390/s2206215122:6(2151)Online publication date: 10-Mar-2022

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