지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.1
- 수록면
- 424 - 434 (11page)
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This paper presents a path planning algorithm of the unmanned aerial vehicle for the neutralization of the enemy firepower. The long range firepower of the ememy is usually located at the rear side of the mountain which is difficult to bomb. The path planner not only consider the differential constraints of the Unmanned Aerial Vehicle (UAV) but also consider the final approaching angle constraint. This problem is easily solved by incorporating the analytical upper bounded continuous curvature path smoothing algorithm into the Rapidly Exploring Random Tree (RRT) planner. The proposed algorithm can build a feasible path satisfying the kinematic constraints of the UAV on the fly. In addition, the curvatures of the path are continuous over the whole path. Simulation results show that the proposed algorithm can generate a feasible path of the UAV for the bombing mission regardless of the posture of the tunnel.
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참고문헌 (13)
참고문헌 신청
이승헌 / 2006 / 항공력 측면에서 효율적인 대화력전 방안 연구
S. LaValle / 2006 / Planning Algorithms / Cambridge University Press
E. Frazzoli / 2001 / Real-Time Motion Plannig for Agile Autonomous Vehicles / American Control Conference},Arlington, Virginia
J. Saunders / 2005 / Static and Dynamic Obstacle Avoidance in Miniature Air Vehicles / AIAA Infotech@Aerospace, Arlington, Virginia
M. Wzorek / 2006 / Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle / IEEE International Conference on Hybrid Information Technology, Cheju, Korea
S. LaValle / 2006 / Planning Algorithms / Cambridge University Press
E. Frazzoli / 2001 / Real-Time Motion Plannig for Agile Autonomous Vehicles / American Control Conference},Arlington, Virginia
J. Saunders / 2005 / Static and Dynamic Obstacle Avoidance in Miniature Air Vehicles / AIAA Infotech@Aerospace, Arlington, Virginia
M. Wzorek / 2006 / Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle / IEEE International Conference on Hybrid Information Technology, Cheju, Korea
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