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⛄ 内容介绍
Engine failures are a large cause of concern for mission planners when dealing with the operation of Unmanned Aerial Vehicles (UAVs). This is primarily due to the lack of a skilled pilot on-board who can deal with the resulting loss of control by assessing the environment around them to perform an emergency landing. This has recently become a growing issue due to the fact UAVs are seeing a huge rise in use ranging from a plethora of civilian and military applications. With more UAVs in operation, the chances of a crash landing or collision from a loss of control increase. Therefore an autonomous system which will allow the vehicle to land safely is highly desirable. The challenge is to produce dynamically feasible routes for the unpowered UAV, which consider spatial constraints from a complex obstacle space, as well as temporal constraints for landing in pre-defifined safety zones. This chapter will begin with the motivation and inherent diffiffifficulty in solving such a problem, followed by a brief description of the proposed solution.
⛄ 部分代码
%% generateRoadmap.m
function [nodes, distMatrix, heuristic] = generate_roadmap(npoints,radius,init,final,obs,radius_obstacle,zone)
nodes = [init,final,zone];
distMatrix = zeros(npoints);
heuristic = zeros(1,npoints);
heuristic(1) = norm(final-init);
heuristic(2) = 0;
offset = 2+length(zone);
for i = 1 : npoints-offset
while true
new = init(1)+(final(1)-init(1))*abs(rand(2,1));
if collision_test(new,obs,radius_obstacle)
break;
end
end
heuristic(i+offset) = norm(new-final);
nodes = [nodes, new];
[idx, D] = rangesearch(nodes', new', radius);
idx = idx{1};
if length(idx) == 1
continue;
end
D = D{1};
for k = 2 : length(idx)
if edge_test(new,nodes(:,idx(k)),obs,radius_obstacle);
plot([nodes(1,end), nodes(1,idx(k))], [nodes(2,end), nodes(2,idx(k))], 'c', 'linewidth', 0.5); % plot the edge
distMatrix(length(nodes),idx(k)) = D(k); % add in symmetric positions in distMatrix
distMatrix(idx(k),length(nodes)) = D(k);
end
end
end
end
⛄ 运行结果
