Centralized Path Planning for Multi-aircraft in the Presence of Static and Moving Obstacles
محل انتشار: ماهنامه بین المللی مهندسی، دوره: 33، شماره: 5
سال انتشار: 1399
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 476
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شناسه ملی سند علمی:
JR_IJE-33-5_025
تاریخ نمایه سازی: 25 خرداد 1399
چکیده مقاله:
This article proposes a new approach for centralized path planning of multiple aircraft in presence of the obstacle-laden environment under low flying rules. The problem considers as a unified nonlinear constraint optimization problem. The minimum time and control investigate as the cost functions and the maximum velocity and power consider as the constraints. The pseudospectral method applies as a popular and fast direct method to solve the constrained path planning problem. The three-degree-of-freedom nonlinear point mass equations of motion with realistic operational aircraft constraints consider through the simplified mathematical model. The fixed obstacle considers as a combination of spheres with different radius. Also, the moving obstacles consider as a sphere with a known radius and fly at a constant speed. The effectiveness of the proposed concept will be demonstrated by presenting four case studies with a different number of aircraft along with the static and moving obstacles in various scenarios to ensure safe and effective flights.
کلیدواژه ها:
نویسندگان
M. M.irzaei Teshnizi
Faculty of New Science and Technology, University of Tehran, Tehran, Iran
A. Kosari
Faculty of New Science and Technology, University of Tehran, Tehran, Iran
S. Goliaei
Faculty of New Science and Technology, University of Tehran, Tehran, Iran
S. Shakhesi
Faculty of Iranian Space Research Center, Tehran, Iran