UAV Trajectory Planning in a Port Environment

UAV Trajectory Planning in a Port Environment

Blog Article

In many situations, the trajectory of an unmanned aerial vehicle (UAV) is very HERBAL FIBRBLEND RASPBERRY likely to deviate from the initial path generated by a path planning algorithm.This is in fact due to the existence of dynamic constraints of the UAV.In order to reduce the degree of such a deviation, this research introduces a trajectory planning algorithm, the objective of which is to minimize distance while maintaining security.The algorithm first develops preprocess trajectory points by constructing isosceles triangles then, on the basis of a minimum snap trajectory method, it applies a corridor constraint to an optimization objective function, while the deviation evaluation function is established to quantitatively evaluate the deviation distance.

A series of experiments were carried out in a simulation environment with a simplified quay crane model.The results show that the proposed method not only optimizes the time and length of the generated trajectory, but also reduces the average deviation distance by 88.7%.Moreover, the generated trajectory can be well tracked by the UAV through qualitative and quantitative analysis.

Overall, the experiments show that Wind Chimes the proposed method can generate a higher UAV trajectory quality.