Control Method of UAV Based on RRT* for Target Tracking in Cluttered Environment

被引：0
作者：
Li, X. Q. [1 ]
Qiu, L. [1 ]
Aziz, S. [2 ]
Pan, J. F. [1 ]
Yuan, J. P. [1 ,2 ]
Zhang, B. [1 ,2 ]
机构：
[1] Shenzhen Univ, Coll Mechatron & Control Engn, Shenzhen, Peoples R China
[2] Shenzhen Univ, Coll Optoelect Engn, Shenzhen, Peoples R China
来源：
2017 7TH INTERNATIONAL CONFERENCE ON POWER ELECTRONICS SYSTEMS AND APPLICATIONS - SMART MOBILITY, POWER TRANSFER & SECURITY (PESA) | 2017年
基金：
中国国家自然科学基金;
关键词：
RRT* Algorithm; Obstacle environment; Target tracking; UAV;
D O I：
暂无
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
In this paper, RRT* algorithm is applied to the navigation of UAV for tracking a target in obstacle environment. Planning route generated by RRT* algorithm used for flight control of UAV. RRT* algorithm is extended to include a track mission considering differential constraints of Quadrotor and the cluttered environment. Paper presents the algorithm flow of RRT* and the dynamic models of UAV. Simulation results show that UAV combined with RRT* planner can achieve track task successfully in complex environments.
引用
收藏
页数：4
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