Feature selection-based decision model for UAV path planning on rough terrains

doi:10.1016/j.eswa.2023.120713

	Feature selection-based decision model for UAV path planning on rough terrains
	Ali, Hub 1,2; Xiong, Gang1,3 ; Haider, Muhammad Husnain 4; Tamir, Tariku Sinshaw 1,2; Dong, Xisong1,5 ; Shen, Zhen1,5,6
发表期刊	EXPERT SYSTEMS WITH APPLICATIONS
ISSN	0957-4174
	2023-12-01
卷号	232 页码:12
通讯作者	Shen, Zhen(zhen.shen@ia.ac.cn)
摘要	Path planning and obstacle avoidance in 3D terrain have been identified as a monumental challenge for a UAV in a variety of autonomous missions, such as disaster management, and search and rescue operations. In large terrain areas, it is a key problem for traditional approaches to search within the point-cloud maps to find a global path for a UAV considering the flight safety, maneuverability, weather constraints, and fuel cost. Hence, this paper proposes a trajectory planning technique for global and local path planning of a fixed-wing UAV above 3D terrain under static and dynamic constraints. For global path generation, a novel feature selection-based decision model has been proposed to select the features of a point-cloud map and transform them into the feature set. The feature set is utilized by an A* multi-directional planner with an extensive search area to deliver an optimal global path. The global path is assumed as the UAV's reference waypoints. The motion of the UAV on reference waypoints is simplified with two coordinates (R, d), where R is the cumulative distance covered by the UAV along the reference waypoints and d is its offset distance from the reference line segment in time t. For the local path planning, offset trajectories are generated along with reference waypoints to avoid collisions. Cost functions have been added so that the best global and local path can be chosen, taking into account altitude, weather, and fuel constraints. The simulation results and comparison show that the proposed approach outperforms various other 3D UAV path planning techniques in complex terrain.
关键词	Path planning Obstacle avoidance Unmanned Aerial Vehicle (UAV) Motion planning
DOI	10.1016/j.eswa.2023.120713
关键词[WOS]	ROBOTS ; SYSTEM
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[U1909204] ; National Natural Science Foundation of China[2021B1515140034] ; Guangdong Research Foundation[RITS2021KF03] ; China Academy of Railway Sciences Corporation Limited Project[20211600200022] ; Guangdong Basic and Applied Basic Research Foundation[RITS2021KF03] ; CAS STS Dongguan Joint Project[20201600200072] ; [U19B2029]
项目资助者	National Natural Science Foundation of China ; Guangdong Research Foundation ; China Academy of Railway Sciences Corporation Limited Project ; Guangdong Basic and Applied Basic Research Foundation ; CAS STS Dongguan Joint Project
WOS研究方向	Computer Science ; Engineering ; Operations Research & Management Science
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Operations Research & Management Science
WOS记录号	WOS:001056333800001
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54102
专题	多模态人工智能系统全国重点实验室
通讯作者	Shen, Zhen
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing Engn Res Ctr Intelligent Syst & Technol, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Guangdong Engn Res Ctr 3D Printing & Intelligent M, Cloud Comp Ctr, Dongguan 523808, Peoples R China 4.Univ Elect Sci & Technol China UESTC, Sch Mech & Elect Engn, Chengdu 610054, Peoples R China 5.Qingdao Acad Intelligent Ind, Qingdao 266109, Peoples R China 6.Chinese Acad Sci, Inst Automat, 95 Zhongguancun E Rd, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Ali, Hub,Xiong, Gang,Haider, Muhammad Husnain,et al. Feature selection-based decision model for UAV path planning on rough terrains[J]. EXPERT SYSTEMS WITH APPLICATIONS,2023,232:12.
APA	Ali, Hub,Xiong, Gang,Haider, Muhammad Husnain,Tamir, Tariku Sinshaw,Dong, Xisong,&Shen, Zhen.(2023).Feature selection-based decision model for UAV path planning on rough terrains.EXPERT SYSTEMS WITH APPLICATIONS,232,12.
MLA	Ali, Hub,et al."Feature selection-based decision model for UAV path planning on rough terrains".EXPERT SYSTEMS WITH APPLICATIONS 232(2023):12.