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

页数：4

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