Integrated Global and Local Path Planning for Quadrotor Using Particle Swarm Optimization

被引：1

作者：

Hong, Youkyung ^{[1
]}

Kim, Suseong ^{[1
]}

Cha, Jihun ^{[1
]}

机构：

[1] Elect & Telecommun Res Inst, Daejeon 34129, South Korea

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

关键词：

Quadrotor; Path Planning; Particle Swarm Optimization; Minimum Snap Trajectory;

D O I：

10.1016/j.ifacol.2020.12.2497

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study proposes a new path planning method for quadrotors to determine a set of waypoints by considering both geometric constraints to avoid collisions with obstacles and dynamic constraints to reflect the dynamic characteristics of the quadrotor. The proposed path planning method can be formulated as a non-linear optimization problem that minimizes the Euclidean distance between waypoints while satisfying the geometric and dynamic constraints. Particle swarm optimization is utilized to solve the non-linear optimization problem efficiently. By utilizing the Gazebo simulator, the performance of the proposed path planning method is validated for a quadrotor. Copyright (C) 2020 The Authors.

引用

页码：15621 / 15625

页数：5

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