《Cooperative Path Planning of Unmanned Aerial Vehicles》

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《Cooperative Path Planning of Unmanned Aerial Vehicles》
无人机协同航迹规划
作者：Antonios Tsourdos, Brian White
and Madhavan Shanmugavel
Cranfield Defence and Security
Cranfield University, UK
出版社：Wiley
出版时间：2011年

《Cooperative Path Planning of Unmanned Aerial Vehicles》

《Cooperative Path Planning of Unmanned Aerial Vehicles》

《Cooperative Path Planning of Unmanned Aerial Vehicles》

《Cooperative Path Planning of Unmanned Aerial Vehicles》

目录
About the Authors ix
Series Preface xi
Preface xii
Acknowledgements xiii
List of Figures xv
List of Tables xxi
Nomenclature xxiii
1 Introduction 1
1.1 Path Planning Formulation 2
1.2 Path Planning Constraints 3
1.2.1 Flyable Paths: Capturing Kinematics 4
1.2.2 UAV Inertial Manoeuvre Coordinates 6
1.2.3 Generation of Safe Paths for Path Planning 7
1.3 Cooperative Path Planning and Mission Planning 7
1.4 Path Planning – An Overview 10
1.5 The Road Map Method 13
1.5.1 Visibility Graphs 14
1.5.2 Voronoi Diagrams 14
vi Contents
1.6 Probabilistic Methods 16
1.7 Potential Field 16
1.8 Cell Decomposition 17
1.9 Optimal Control 18
1.10 Optimization Techniques 18
1.11 Trajectories for Path Planning 19
1.12 Outline of the Book 20
References 22
2 Path Planning in Two Dimensions 29
2.1 Dubins Paths 30
2.2 Designing Dubins Paths using Analytical Geometry 31
2.2.1 Dubins Path: External Tangent Solution 33
2.2.2 Dubins Path: Internal Tangent Solution 35
2.3 Existence of Dubins Paths 37
2.4 Length of Dubins Path 39
2.5 Design of Dubins Paths using Principles of Differential
Geometry 39
2.5.1 Dubins Path Length 43
2.6 Paths of Continuous Curvature 45
2.7 Producing Flyable Clothoid Paths 46
2.8 Producing Flyable Pythagorean Hodograph Paths (2D) 56
2.8.1 Design of Flyable Path using 2D PH curve 61
References 62
3 Path Planning in Three Dimensions 65
3.1 Dubins Paths in Three Dimensions Using Differential
Geometry 67
3.2 Path Length–Dubins 3D 72
3.3 Pythagorean Hodograph Paths–3D 72
3.3.1 Spatial PH Curves 73
3.4 Design of Flyable Paths Using PH Curves 74
3.4.1 Design of Flyable Paths 75
References 78
4 Collision Avoidance 81
4.1 Research into Obstacle Avoidance 83
4.2 Obstacle Avoidance for Mapped Obstacles 85
4.2.1 Line Intersection Detection 86
Contents vii
4.2.2 Line Segment Intersection 90
4.2.3 Arc Intersection 94
4.3 Obstacle Avoidance of Unmapped Static Obstacles 103
4.3.1 Safety Circle Algorithm 104
4.3.2 IntermediateWaypoint Algorithm 104
4.4 Algorithmic Implementation 106
4.4.1 Dubins Path Modification 107
4.4.2 Clothoid Path Modification 107
4.4.3 PH Path Modification 110
4.4.4 Obstacle Avoidance in 3D 112
References 115
5 Path-Following Guidance 119
5.1 Path Following the Dubins Path 120
5.2 Linear Guidance Algorithm 124
5.3 Nonlinear Dynamic Inversion Guidance 126
5.4 Dynamic Obstacle Avoidance Guidance 132
5.4.1 UAV Direction Control 135
5.4.2 Multiple Conflict Resolution 142
References 145
6 Path Planning forMultiple UAVs 147
6.1 Problem Formulation 149
6.2 Simultaneous Arrival 151
6.3 Phase I: Producing Flyable Paths 152
6.4 Phase II: Producing Feasible Paths 152
6.4.1 Minimum Separation Distance 153
6.4.2 Non-Intersection Paths 154
6.4.3 Offset Curves 155
6.5 Phase III: Equalizing Path Lengths 156
6.6 Multiple Path Algorithm 156
6.7 Algorithm Application for Multiple UAVs 157
6.7.1 2D Dubins Paths 157
6.7.2 2D Clothoid Paths 160
6.8 2D Pythagorean Hodograph Paths 162
6.9 3D Dubins Paths 165
6.10 3D Pythagorean Hodograph Paths 169
References 174
viii Contents
Appendix A Differential Geometry 175
A.1 Frenet–Serret Equations 177
A.2 Importance of Curvature and Torsion 178
A.3 Motion and Frames 179
References 181
Appendix B Pythagorean Hodograph 183
B.1 Pythagorean Hodograph 184
References 185
Index 187

这本书也出中文版了
无人机协同路径规划

无人机协同路径规划

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Ken

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jjj

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wellesly

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御锋

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locksheedtiger

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GOOWOO

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尚成

感谢

greathun

good book