Work

Online Trajectory Replanning for Avoiding Moving Obstacles Using Fusion Prediction and Gradient-Based Optimization

Year: 2024

Type: article

Abstract: In this study, we introduce a novel method for an online trajectory replanning approach for fixed-wing Unmanned Aerial Vehicles (UAVs). Our method integrates moving obstacle predictions within a gradient-based optimization framework. The trajectory is represented by uniformly discretized waypoints, which serve as the optimization variables within the cost function. This cost function incorporates multiple objectives, including obstacle avoidance, kinematic and dynamic feasibility, similarity to the reference trajectory, and trajectory smoothness. To enhance prediction accuracy, we combine physics-based and pattern-based methods for predicting obstacle movements. These predicted movements are then integrated into the online trajectory replanning framework, significantly enhancing the system’s safety. Our approach provides a robust solution for navigating dynamic environments, ensuring both optimal and secure UAV operation.

Source: Applied Sciences

DOI: 10.3390/app14188339

Authors: Qianyi Fu, Wenjie Zhao, Shiyu Fang, Yiwen Zhu, Jun Li, Qili Chen

Institutions: Zhejiang University, Beijing Information Science & Technology University

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,728

Funders: National Natural Science Foundation of China, Shanghai Aerospace Science and Technology Innovation Foundation, Fundamental Research Funds for the Central Universities