A mathematical model of obstacle limit surfaces for military airfield obstacle free space is established through airfield obstacle free space analysis.Based on the model,triangle mesh elevation model of military airfi...A mathematical model of obstacle limit surfaces for military airfield obstacle free space is established through airfield obstacle free space analysis.Based on the model,triangle mesh elevation model of military airfield obstacle free space is built by using the software-ArcGIS,and the 3-D display result is obtained.It is convenient to evaluate military airfield obstacle for superimposing digital elevation model（DEM）with military airfield topographic map.Thus it improves the efficiency greatly.It lays the foundation for the application of geographic information systems（GIS）in the management of military airfield obstacle free space.展开更多
Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle(UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed,...Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle(UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed, which quantifies the influence of threatening obstacles through velocity obstacle spherical cap parameters. In addition, the obstacle avoidance schemes of any point on the critical curve during the multi-obstacles avoidance are given. Through prediction, the insertion point for the obstacle avoidance can be obtained and the flight path can be replanned. Taking the Pythagorean Hodograph(PH) curve trajectory re-planning as an example, the three-dimensional direct obstacle avoidance method in dynamic space is tested. Simulation results show that the proposed method can realize the online obstacle avoidance trajectory re-planning, which increases the flexibility of obstacle avoidance greatly.展开更多
基金Supported by the Science Research Foundation of Air Force Logistics Department(KJYZ09019)~~
文摘A mathematical model of obstacle limit surfaces for military airfield obstacle free space is established through airfield obstacle free space analysis.Based on the model,triangle mesh elevation model of military airfield obstacle free space is built by using the software-ArcGIS,and the 3-D display result is obtained.It is convenient to evaluate military airfield obstacle for superimposing digital elevation model（DEM）with military airfield topographic map.Thus it improves the efficiency greatly.It lays the foundation for the application of geographic information systems（GIS）in the management of military airfield obstacle free space.
基金supported by the Aeronautical Science Foundation of China(20135584010)
文摘Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle(UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed, which quantifies the influence of threatening obstacles through velocity obstacle spherical cap parameters. In addition, the obstacle avoidance schemes of any point on the critical curve during the multi-obstacles avoidance are given. Through prediction, the insertion point for the obstacle avoidance can be obtained and the flight path can be replanned. Taking the Pythagorean Hodograph(PH) curve trajectory re-planning as an example, the three-dimensional direct obstacle avoidance method in dynamic space is tested. Simulation results show that the proposed method can realize the online obstacle avoidance trajectory re-planning, which increases the flexibility of obstacle avoidance greatly.
