Journal of Shanghai Jiao Tong University ›› 2022, Vol. 56 ›› Issue (8): 1024-1033.doi: 10.16183/j.cnki.jsjtu.2021.154
• Mechanical Engineering • Previous Articles Next Articles
HUANG Yuhao1, HAN Chao1, ZHAO Minghui2, DU Qiankun1, WANG Shigang1()
Received:
2021-05-06
Online:
2022-08-28
Published:
2022-08-26
Contact:
WANG Shigang
E-mail:wangshigang@sjtu.edu.cn
CLC Number:
HUANG Yuhao, HAN Chao, ZHAO Minghui, DU Qiankun, WANG Shigang. Multi-Objective Optimization Strategy of Trajectory Planning for Unmanned Aerial Vehicles Considering Constraints of Safe Flight Corridors[J]. Journal of Shanghai Jiao Tong University, 2022, 56(8): 1024-1033.
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URL: https://xuebao.sjtu.edu.cn/EN/10.16183/j.cnki.jsjtu.2021.154
Tab.1
Comparison of SFC and proposed algorithms at different obstacle densities
ρ | 本文算法 | SFC算法 | |||||||
---|---|---|---|---|---|---|---|---|---|
| omin/m | | tu/s | | omin/m | | tu/s | ||
0.02 | 1.286 | 0.510 | 0.397 | 1.137 | 1.302 | 0.473 | 0.363 | 1.190 | |
0.04 | 1.048 | 0.555 | 0.530 | 1.214 | 1.069 | 0.454 | 0.425 | 1.320 | |
0.06 | 1.059 | 0.528 | 0.499 | 1.540 | 1.085 | 0.446 | 0.411 | 1.756 | |
0.08 | 0.837 | 0.461 | 0.551 | 1.912 | 0.867 | 0.342 | 0.394 | 2.665 | |
0.10 | 0.781 | 0.462 | 0.592 | 1.994 | 0.802 | 0.359 | 0.448 | 2.355 | |
平均值 | 1.002 | 0.503 | 0.513 | 1.559 | 1.025 | 0.415 | 0.408 | 1.857 |
Tab.2
Calculated results of obstacle clearance and gradient using safe flight corridors
pT/m | 安全飞行通道计算结果 | 栅格地图计算结果 | |||
---|---|---|---|---|---|
omin/m | g | omin/m | g | ||
(-7.34,-6.02, 2.00) | 1.15 | (-0.22,-0.98, 0.00) | 1.16 | (-0.18,-0.98, 0.00) | |
(-3.20,-1.51, 1.65) | 0.54 | (0.08, 0.99,-0.04) | 0.63 | (-0.31, 0.95, 0.00) | |
(1.02,-1.29, 1.18) | 0.93 | (0.98,-0.22, 0.05) | 0.94 | (0.97,-0.21, 0.01) | |
(4.28, 1.19, 1.09) | 0.90 | (-0.51, 0.86, 0.03) | 0.92 | (-0.49, 0.87, 0.01) |
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