A Method of Trajectory Planning for Unmanned Aerial Vehicle Formation Based on Fluid Dynamic Model

Huang, Jie; Sun, Wei; Gao, Yu

doi:10.1109/access.2019.2961632

Cited by 7 publications

(5 citation statements)

References 40 publications

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“…At present, the theory of complex dynamic systems has been applied in many fields. For example, according to the theory of a complex dynamic system, Huang proposed a hybrid trajectory planning algorithm based on a potential field fluid dynamics model and bidirectional fast search random tree to improve the adaptation of UAV formation to complex dynamic environment capabilities [4]. Under the theory of complex dynamic systems, the language system is a complex and dynamic nonlinear system; English learning is a system that constantly interacts and develops with internal subsystems.…”

Section: Background and Significancementioning

confidence: 99%

[Retracted] Oral English Development of EFL Learners from the Perspective of Complexity Dynamic Theory

Dou

Li²,

Tang

2021

Complexity

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With the development of economic globalization and cultural integration, the learning of a second language has become increasingly important for economic, political, and cultural exchanges in the world today. Complex dynamic system theory is an important research theory of foreign language learning methods for nonnative speakers. However, the research and application of the complex dynamic system theory in oral foreign language learning of English as a Foreign Language (EFL) learners are not prominent. The purpose of this paper is to explore the learning situation of oral English of EFL learners from the perspective of the complex dynamic system theory and provide some new learning methods and suggestions for EFL learners’ oral English learning based on the research of complex dynamic system theory. First, this article discusses and analyzes the current situation of oral English learning of EFL learners through literature research and a questionnaire survey. Then, based on the related research on the theory of complex dynamic systems, this article proposes countermeasures and learning method recommendations for the problems existing in the current oral English learning of EFL learners. After that, this paper sets up a controlled test of oral English learning through the learning method formulated by the complex dynamic system theory and verifies the learning effect of the oral English learning method proposed in this paper according to the mathematical theory research method of the complex dynamic system. Finally, this article discusses the reliability of the experimental research conclusions based on the error analysis and confidence level estimation of the experimental results. The research results show shows that there is 95% confidence that the second language learning method proposed in this paper under the perspective of the complex dynamic system theory has a positive effect on the oral English learning of EFL learners.

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Section: Background and Significancementioning

confidence: 99%

[Retracted] Oral English Development of EFL Learners from the Perspective of Complexity Dynamic Theory

Dou

Li²,

Tang

2021

Complexity

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“…From the three parameters of equation ( 8 The Artificial Potential Field (APF) algorithm [51]- [54] was first discovered by Khatib [55], which employs the theory of attractive and repulsive forces such as magnetic fields. In other words, artificial potential field force [56] 𝐹 𝐴𝑃𝐹 is the sum of the gravitational potential field force [57] 𝐹 𝑎𝑡𝑡 and the repulsive potential field force [58] 𝐹 𝑟𝑒𝑝 . Equation (10) shows the formula of APF.…”

Section: Fig 2 No Lateral Slipmentioning

confidence: 99%

“…The APF algorithm can be used to control nonholonomic robots by inputting linear velocity equations into kinematic robots [57] [59]. The APF force should be converted to the desired rate equation of APF attractive force 𝑉 → 𝐺 𝑎𝑡𝑡 using equation ( 11) [60].…”

Section: Fig 2 No Lateral Slipmentioning

confidence: 99%

Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

Suwarno

Oktaviani

Apriani³

et al. 2022

Journal of Robotics and Control

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The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.

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“…However, the proposed 3D-map exploring RRT was not effectively used to optimize the path towards the destination target. Huang et al [20] mainly discussed the rapid reconstruction and obstacle avoidance of UAV formation. This work used a hybrid path planning approach according to a dynamic model of potential field fluid RRT to recover the capability of UAV formations in dynamic complex environments [21].…”

Section: Introductionmentioning

confidence: 99%

Developing a model for unmanned aerial vehicle with fixed-wing using 3D-map exploring rapidly random tree technique

Dallal Bashi,

K. Hameed,

Al Kubaisi

et al. 2024

Bulletin EEI

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While the motion planning algorithms consider the obstacles that were known in the map, it is possible to use obstacle avoidance algorithms to take over and send commands to theunmanned aerial vehicle (UAV), when there is an unknown obstacle on the way. The rapidly random tree (RRT) algorithm is used to plan paths for a quad-copter or a fixed-wing UAV. This work develops a model for UAV with fixed-wing using a 3D map exploring the RRT technique. The first step is to obtain a 3D occupancy map from the map data stored in the UAV city to provide a map with some pre-generated obstacles. The contribution of this work is to use RRT planning for 3D state space, where the motion segment or motion primitive connecting the two consecutive states should be defined in a 3D space while satisfying the motion constraints of a UAV. The simulation includes setting up a 3D map, providing the starting and destination pose, planning a way using RRT and 3D Dubins moving primitives, smoothing the acquired trajectory, and simulating the UAV flight. The results obtained demonstrate that the smoothed-generated waypoints significantly improved tracking in general with shorter paths.

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A Method of Trajectory Planning for Unmanned Aerial Vehicle Formation Based on Fluid Dynamic Model

Cited by 7 publications

References 40 publications

[Retracted] Oral English Development of EFL Learners from the Perspective of Complexity Dynamic Theory

[Retracted] Oral English Development of EFL Learners from the Perspective of Complexity Dynamic Theory

Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

Developing a model for unmanned aerial vehicle with fixed-wing using 3D-map exploring rapidly random tree technique

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