A Local Real-time Path Planning Method Based on Flight Error
SONG Wenbing
ZHOU Chengping
Abstract：According to the out‐of‐tolerance problem between the UAV (Unmanned Aerial Vehicle) real‐time status and the predetermined one ,a local real‐time path planning scheme is required .In this paper ,a local real‐time planning scheme based on the out‐of‐tolerance information is proposed .Our scheme presents a decision‐making approach by analyzing the UAV flying status and the relationship between UAV and the scheduled task chain .Based on the orient circle theory ,a local real‐time path planning algorithm is also proposed .The proposed algorithm can be used for planning the complex position and the orientation relationship between the emit point and the target point .Furthermore ,the out‐of‐tolerance information could be well comprehended ,and the time efficiency is proved in the experiment .
Keywords：flight error informationreal-time path planningtask listmatchorient circle
Publication Date：2015-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 2158-2164 )