Autonomous driving paper index
Fast Motion Planning of Autonomous Navigation Reconnaissance UAV Based on Range Field
One-line summary
An autonomous driving research paper: Fast Motion Planning of Autonomous Navigation Reconnaissance UAV Based on Range Field.
Engineering notes
Key topics: autonomous driving, motion planning, path planning, planning. See the paper for implementation details and experimental results.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。
Original abstract
In order to solve the problems of slow convergence speed and low algorithm efficiency in path planning of UAV when using particle swarm optimization algorithm to face the unknown environment map, a method of particle initialization using artificial potential field method is proposed, Convert the no fly zone and target information covered by interference sources or obstacles in the known environment map into potential field values and display them on the grid map, and selects the grid with smaller potential field values during initialization. In the iterative optimization process, the smoothness of the solved trajectory, the obstacle avoidance of unknown obstacles and the distance from the target point are used as fitness values to find path points, and finally the B-spline curve is used to optimize the trajectory. The simulation results show that compared with PSO, the algorithm can save about 30% operation time under the same convergence effect.
Links and sources
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