Design of a Multi-Layer UAV Path Planner for Cluttered Environments
Design of a Multi-Layer UAV Path Planner for Cluttered Environments
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针对杂乱环境的多层无人机路径规划器设计
DOI：
10.1109/icuas.2018.8453481
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
J. Gauci
中科院分区：
文献类型：
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作者：
M. Galea;Brian Zammit;J. Gauci
将无人驾驶航空系统（UAS）集成到与有人驾驶飞机相同的空域中的呼声越来越高。实现这一目标的一个步骤是开发感知和避免（SAA）能力，为UAS提供检测和绕过交通的必要技术。本文详细介绍了一种算法，使无人驾驶车辆到达目标航路点，遵循最短路径，避免固定的障碍物和移动的交通。在这种情况下，多层规划器的开发，使规划的轨迹在杂乱的环境中包含固定和移动的障碍。该规划器分为三层;一个高层次的规划器使用Voronoi技术，使规划器隔离成广泛的禁飞区的个别障碍;一个中级的规划器，用于表示作为凸包的禁飞区和一个低层次的规划器，解决了由此产生的规划问题，使用混合整数线性规划（MILP），考虑到凸禁飞区和所有相邻的交通。初步的性能结果表明，多层规划器是能够一致地确定最佳的无冲突路径，在混乱的环境中，适合快速离线规划操作的执行速度。
There is an ever-increasing urge to integrate unmanned air systems (UAS) into the same airspace as manned aircraft. A step towards achieving this goal is to develop Sense and Avoid (SAA) capabilities to provide UAS with the required technology to detect and maneuver around traffic. This paper details an algorithm which enables an unmanned vehicle to reach a target waypoint by following the shortest path and avoiding fixed obstacles and moving traffic. In this context, a multi-layer planner is developed to enable planning of trajectories in cluttered environment containing fixed and moving obstacles. The planner is segmented into three layers; a high-level planner using Voronoi techniques that enable the planner to segregate individual obstacles into broad no-fly zones; a mid-level planner for representing the no-fly zones as convex hulls and a low-level planner that solves the resulting planning problem using mixed-integer linear programming (MILP), taking into account the convex no-fly zones and all neighboring traffic. Preliminary performance results suggest that the multi-layer planner is able to consistently identify optimal conflict-free paths in cluttered environments with execution speeds that are suitable for fast off-line planning operations.