A Parallel Mapping and Planning Strategy for Micro Aerial Vehicle  

作　　者：Zhuo Wang Qun Zong Hongming Shen Bailing Tian Hanchen Lu 

机构地区：[1]School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,P.R.China [2]Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory,Beijing Electro-Mechanical Engineering Institute Beijing 100083,P.R.China

出　　处：《Guidance, Navigation and Control》2022年第2期125-145,共21页制导、导航与控制（英文）

基　　金：supported by the National Natural Science Foundation of China under Grant Nos.62022060,62073234 and 61873340.

摘　　要：Autonomous fight is a fundamental problem for various saplications of miaro aerial vehicles(MAVs).Thanks to the dewvelopment of Gudance.Navigation and Control(GNC)techndogle,the rsearch on this problem i abo becoming mature.However,safe fight in unknown,dut tered enviouments remains an open question,epeaially with real-time reguirement on onboard computer.This paper propoes a framnework including prlelly mapping and planning and implements it on Graphics Pmocessing Unit(GPU).First,a spherical coomlinate proijection is used in the ocupency grid map to avold menory cnflicts.After that,in the planning phase,a method baed on latice state space sampling is applied to obtain mutiple rajectorfe parlelly.Then,we design a series of aoft constraints to ensure that the MAV is in a safe known space with optimal dynamics.By solving the cost for each trajectory and comparison,the optimal trajectory can be generated.The efectivenes of the propeed strategy is demonstrated through simulation testa.

关 键 词：Motion planning lattice planner parallel processing 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249