Cooperative Path Planning of Unmanned Aerial Vehicles+PDF+40币+永久

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作者简介：
Antonios Tsourdos was appointed Head of the Autonomous Systems Group at Cranfield University in 2007. He obtained a PhD on Nonlinear Robust Flight Control Design and Analysis from Cranfield University in 1999. He was a member of the Team Stellar, the winning team for the UK MoD Grand Challenge (2008). Madhavan Shanmugavel is currently a Research Fellow at Cranfield Security and Defence, Defence College of Management and Technology, Cranfield University, Defence Academy of the UK, Shrivenham. He began his research career with Cranfield University in 2007, developing path planning algorithm for unmanned vehicles. He graduated from the Indian Institute of Technology, Chennai, with a Masters Degree in 2000, and gained industrial research experience with TATA Motors, India, since 2004

本书主要讲述无人机的自动飞行、导航和航路（轨迹）规划，目录如下：
1 Introduction 1
1.1 Path Planning Formulation 2
1.2 Path Planning Constraints 3
1.2.1 Flyable Paths: Capturing Kinematics 4
1.2.2 UAV Inertial Manoeuvre Coordinates 6
1.2.3 Generation of Safe Paths for Path Planning 7
1.3 Cooperative Path Planning and Mission Planning 7
1.4 Path Planning – An Overview 10
1.5 The Road Map Method 13
1.5.1 Visibility Graphs 14
1.5.2 Voronoi Diagrams 14
1.6 Probabilistic Methods 16
1.7 Potential Field 16
1.8 Cell Decomposition 17
1.9 Optimal Control 18
1.10 Optimization Techniques 18
1.11 Trajectories for Path Planning 19
1.12 Outline of the Book 20
References 22
2 Path Planning in Two Dimensions 29
2.1 Dubins Paths 30
2.2 Designing Dubins Paths using Analytical Geometry 31
2.2.1 Dubins Path: External Tangent Solution 33
2.2.2 Dubins Path: Internal Tangent Solution 35
2.3 Existence of Dubins Paths 37
2.4 Length of Dubins Path 39
2.5 Design of Dubins Paths using Principles of Differential
Geometry 39
2.5.1 Dubins Path Length 43
2.6 Paths of Continuous Curvature 45
2.7 Producing Flyable Clothoid Paths 46
2.8 Producing Flyable Pythagorean Hodograph Paths (2D) 56
2.8.1 Design of Flyable Path using 2D PH curve 61
References 62
3 Path Planning in Three Dimensions 65
3.1 Dubins Paths in Three Dimensions Using Differential
Geometry 67
3.2 Path Length–Dubins 3D 72
3.3 Pythagorean Hodograph Paths–3D 72
3.3.1 Spatial PH Curves 73
3.4 Design of Flyable Paths Using PH Curves 74
3.4.1 Design of Flyable Paths 75
References 78
4 Collision Avoidance 81
4.1 Research into Obstacle Avoidance 83
4.2 Obstacle Avoidance for Mapped Obstacles 85
4.2.1 Line Intersection Detection 86
Appendix A Differential Geometry 175
A.1 Frenet–Serret Equations 177
A.2 Importance of Curvature and Torsion 178
A.3 Motion and Frames 179
References 181
Appendix B Pythagorean Hodograph 183
B.1 Pythagorean Hodograph 184
References 185

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