Near-ground trajectory planning for UAVs via multi-resolution hybrid voxel-surfel map  

作　　者：GAO TianYu WENG Rui WU Tong ZHANG RuiXian HAN ChengZhe JI XiaoYu LIU Ming 

机构地区：[1]School of Astronautics,Harbin Institute of Technology,Harbin 150000,China [2]Faculty of Computing,Harbin Institute of Technology,Harbin 150000,China

出　　处：《Science China(Technological Sciences)》2023年第5期1245-1254,共10页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.62225305,12072088,62003117,and 62003118);the National Defense Basic Scientific Research Program of China(Grant No.JCKY2020603B010);the Lab of Space Optoelectronic Measurement&Perception(Grant No.LabSOMP-2021-06);the Natural Science Foundation of Heilongjiang Province,China(Grant No.ZD2020F001)。

摘　　要：This paper is concerned with trajectory planning problems for UAVs operating near ground.Most existing studies focus on solving the problem of collision-free trajectory planning between pre-defined path points,but ignore the need of navigation method for UAVs working on specific operating surfaces in near-ground space.In this paper,a novel near-ground trajectory planning framework is proposed,where the hybrid voxel-surfel map is developed to model the environment with special attention to the uneven operating surface.To improve the frequency of updates,a probability-based surfel fusion method and a resolution adaptive adjustment method based on the fusion result are proposed in this paper.By using possibility information in the map,a path search method is established to generate the initial trajectory.The trajectory is then further optimized based on map gradient information to generate a final trajectory that tracks the specified operating surface according to the task requirements.Compared with existing methods,the multi-resolution hybrid voxel-surfel map proposed in this paper has advantages in terms of operating efficiency.A series of experiments in simulated and real scenarios validate the effectiveness of the proposed trajectory planning framework.

关 键 词：near-ground trajectory planning hybrid voxel-surfel map probability-based surfel fusion operating surface tracking 

分 类 号：V279[航空宇航科学与技术—飞行器设计]