Abstract
Aiming at the task of detecting moving targets for unmanned aerial vehicle (UAV), this paper proposes a dynamic route planning algorithm based on receding horizon control. In order to satisfy the flight dynamics constraints of the planned trajectory, the quadratic Bezier curve is introduced. In view of the weak detection and processing capabilities of UAV, receding horizon control is used for implementation planning to reduce the computational burden of UAV. Considering the characteristics of the moving target, the threat of the mission area, the minimum turn radius of UAV, and the connection of path segments, the optimization model is established with the shortest range as the optimization objective. According to the characteristics of the model, the sequence quadratic program (SQP) method is selected to solve the problem. In order to verify the effectiveness of the algorithm, three ways of moving targets are designed. Simulation results show that the route generated by this method can excellently avoid threats and reach the moving target, and the route is smooth enough for the actual flight.
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Zhang, Y., He, J., Gao, R. (2022). Dynamic Route Planning for UAV Using Receding Horizon Control Towards Moving Target. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_418
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DOI: https://doi.org/10.1007/978-981-15-8155-7_418
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