Path planning for solar-powered UAV in urban environment
•An SUAV path planning framework aimed at urban environment is proposed. The obstacle condition and the shadow regions caused by high buildings are considered.•Dynamic constraints and model are introduced to the traditional IFDS. The modified IFDS, called RIFDS, is proposed. The necessary angles can...
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| Published in: | Neurocomputing (Amsterdam) Vol. 275; pp. 2055 - 2065 |
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| Main Authors: | , , , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Elsevier B.V
31.01.2018
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| Subjects: | |
| ISSN: | 0925-2312, 1872-8286 |
| Online Access: | Get full text |
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| Summary: | •An SUAV path planning framework aimed at urban environment is proposed. The obstacle condition and the shadow regions caused by high buildings are considered.•Dynamic constraints and model are introduced to the traditional IFDS. The modified IFDS, called RIFDS, is proposed. The necessary angles can be resolved by RIFDS for SUAV energy calculation.•Some improvement measures are introduced to WOA to avoid local minima. The modified WOA, called IWOA, is proposed.•The traditional SUAV solar energy production is modified and recalculated according to ASHRAE Clear Sky Model and the solar irradiance calculation principle for slant surfaces.
Aiming at the complexity and particularity of urban environment, a solar-powered UAV (SUAV) path planning framework is proposed in this paper. The framework can be decomposed into three aspects to resolve. First, to make SUAV avoid the building obstacles, a nature-inspired path planning method called Interfered Fluid Dynamical System (IFDS) is introduced. Aiming at the defect that the traditional IFDS is not suitable for SUAV energy optimization calculation, the dynamic constraints and model are introduced to IFDS. The modified IFDS, called Restrained IFDS (RIFDS), is proposed. Second, to resolve the path planning issue efficiently, a novel intelligent optimization algorithm called Whale Optimization Algorithm (WOA) is selected as the basic framework solver. To further overcome the drawback of local minima, adaptive chaos-Gaussian switching solving strategy and coordinated decision-making mechanism are introduced to the basic WOA. The modified algorithm, called Improved WOA (IWOA), is proposed. Third, to solve the accurate modeling problem of solar energy in urban environment, two measures are adopted: (1) A practical judgment method for sunlight occlusions is proposed; (2) Aiming at some unreasonable aspects in the solar energy production model, the received solar energy is modified and recalculated by ASHRAE Clear Sky Model and the solar irradiance calculation principle for slant surfaces in this paper. Finally, the effectiveness of the proposed framework is tested by the simulations. |
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| ISSN: | 0925-2312 1872-8286 |
| DOI: | 10.1016/j.neucom.2017.10.037 |