Hierarchical Path Planning for Urban On-Demand Air Mobility
Hierarchical Path Planning for Urban On-Demand Air Mobility
复制标题
城市按需空中交通的分层路径规划
DOI：
10.1109/ccta.2019.8920446
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
U. Topcu
中科院分区：
文献类型：
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作者：
Dantong Ge;U. Topcu
近年来，按需空中交通作为一种有前途的未来日常通勤交通方式受到了关注。在本文中，我们提出了一个分层的运动规划系统，按需携带的飞行器。具体来说，我们考虑的路径规划问题的要求，飞行效率，系统的安全性，乘客的舒适度。在执行使命之前，我们将一个给定的城市地图简化为一个网格世界，并估计在禁飞区和空中交通拥堵的存在下，细胞之间的转移时间。然后，我们考虑系统的可达性，并应用A* 搜索在地图中找到一个时间最优路径。为了确保系统在起飞后遵循与离线计划一致的可行轨迹，我们使用模型预测控制来跟踪路径上的航路点，并最小化飞行过程中的能量消耗。为了考虑离线规划中不可预见的碰撞，系统中还引入了避碰模块，通过模型预测控制，在预测碰撞点附近优化新航路点，生成避碰轨迹。最后，我们在一个模拟的城市环境中，在不同的飞行场景下，证明了分层规划系统的有效性。
On-demand air mobility has gained attention in the recent years as a promising future transportation mode for daily commutes. In this paper, we propose a hierarchical motion planning system for on-demand passenger-carrying air vehicles. Specifically, we consider a path planning problem with requirements for flight efficiency, system safety, and passenger comfort. Prior to the execution of the mission, we simplify a given city map into a grid world and estimate the transfer time among the cells in the presence of no-fly zones and air traffic congestion. Then, we consider system reachability and apply A* search to find a time-optimal path in the map. To ensure that the system follows a feasible trajectory consistent with the off-line plan after take-off, we use model predictive control to track the waypoints on the path and minimize the energy consumption during flight. In order to account for collisions unforeseen in off-line planning, we further adopt a collision avoidance module in the system, which optimizes a new waypoint near the predicted collision point and generates an avoidance trajectory through model predictive control. At last, we demonstrate the effectiveness of the hierarchical planning system under different flight scenarios in a simulated urban environment.