Study of Three-Dimensional on-line path Planning for UAV based on Pythagorean Hodograph Curve

The formation of multiple quadrotor UAVs with long navigation will encounter many flight constraints, so it is necessary to change the formation to avoid these constraints. In this paper, Voronoi graph theory is used to treat UAVs formation as a rigid body. The rigid body structure can be changed by changing the formation before different constraints, after passing constraints the rigid body structure remains the formation unchanged or form into the prescribed formation. The time-varying model is established to facilitate the use of optimization. Based on Gauss pseudospectral method (GPM), the path optimization of a single quadrotor UAV is carried out. The followed UAVs in formation are treated as constraints. The constraints of maximum turning radius and formation transformation time of other UAVs are considered in the optimization process. The minimum time required for formation transformation is optimized to solve the transformation optimization, and the performance index of trajectory optimization is to minimize the energy consumed by the leader quadrotor UAV within the specified time. Finally, the simulation proves the method proposed in this paper.

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Analysis Of The Multi-Channel Three Dimensional Probability Csma Protocol With Monitoring Function For Wsn

Zhao

Zhou

Ding

et al. 2016

International Journal on Smart Sensing and Intelligent Systems

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For the wireless sensor networks (WSNs), MAC layer protocol, relating to system throughput, involving functions of system, concerning the consumption of system energy efficiency, etc. other system indicators, is very important. With the development of WSN, involving vary businesses, the amount and style of data which the sensor nodes detecting is large and divertive. Based on threedimensional probability CSMA protocol, the proposed protocol, multi-channel three-dimensional probability CSMA protocol with monitoring function (MATP-CSMA), is providing the sensor nodes owning different task with diversified throughput, meeting the quality of services (QoS) of diversiform business. The paper analyses the protocol from three aspects: the system throughput, system delay and energy efficiency. Through rigorous mathematical derivation, get the exact expression of relevant indicators; with the use of simulation tools, verify the accuracy of the model and expressions.

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Study of Three-Dimensional on-line path Planning for UAV based on Pythagorean Hodograph Curve

Cited by 3 publications

References 14 publications

Optimized UAVs' Collision-free 2D Path Planning Based on Quintic Pythagorean Hodograph Curves

Optimized UAVs' Collision-free 2D Path Planning Based on Quintic Pythagorean Hodograph Curves

Time-varying Formation Dynamics Modeling and Constrained Trajectory Optimization of Multi-quadrotor UAVs

Analysis Of The Multi-Channel Three Dimensional Probability Csma Protocol With Monitoring Function For Wsn

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