System Development & Application
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2124-2129,2145

POMDP-APF:UAV path planning strategy of APF based on POMDP model

Feng Jianxin1a,1b
Xie Shuang1a,1b
Guo Guanlin1a,1b
Pan Chengsheng2
1. a. School of Information Engineering, b. Key Laboratory of Communication & Network, Dalian University, Dalian Liaoning 116600, China
2. School of Electronics & Information Engineering, Nanjing University of Information Science & Technology, Nanjing 211800, China

Abstract

In order to solve the failure of path planning with static or dynamic obstacles in the process of path planning, this paper proposed an artificial potential field based on POMDP-APF path planning for UAV(unmanned aerial vehicle). Firstly, the obstacle information obtained by sensors was combined with POMDP model to predict the future locations of obstacles. Se-condly, it proposed a new circumscribed sphere of cube for obstacle to ensure the safety of UAV in path planning process. Finally, combined with the improved APF algorithm, it realized the path planning of UAV. Simulation results show that POMDP-APF strategy has good feasibility and effectiveness in the real-time path planning of UAV, so that UAV can effectively avoid obstacles with shorter path length and time.

Foundation Support

国家自然基金重点资助项目(61931004)
国家“863”计划资助项目(2015AAXX)
教育部基本科研业务费资助项目(N110404035)
辽宁省一般项目(L2015016)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.11.0638
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 7
Section: System Development & Application
Pages: 2124-2129,2145
Serial Number: 1001-3695(2023)07-031-2124-06

Publish History

[2023-02-03] Accepted Paper
[2023-07-05] Printed Article

Cite This Article

冯建新, 解爽, 郭冠麟, 等. POMDP-APF:一种基于POMDP模型的APF无人机路径规划策略 [J]. 计算机应用研究, 2023, 40 (7): 2124-2129,2145. (Feng Jianxin, Xie Shuang, Guo Guanlin, et al. POMDP-APF:UAV path planning strategy of APF based on POMDP model [J]. Application Research of Computers, 2023, 40 (7): 2124-2129,2145. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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