Planning and Analysis on UAV Trajectory Based on PCE Method

doi:10.16182/j.issn1004731x.joss.20-0669

Abstract

Abstract: Focusing on the uncertainty in the UAV trajectory planning, combined with the artificial potential energy method, a UAV trajectory planning method based on polynomial chaos expansion (PCE), which can also efficiently obtain the optimal parameters of the model based on artificial potential field method is proposed. The PCE proxy model is established, and the stochastic collocation method is used to quickly solve the problem, so as to avoid the insufficient computing resources. Through the Sobol sensitivity analysis, the calculation overhead of the uncertainty parameters in the trajectory planning model is reduced. Cases of UAV trajectory planning prove the effectiveness of the method. Compared with the classic artificial potential field model, uncertainty analysis is added and the calculation efficiency of the model is improved.

Key words: PCE model, UAV, trajectory planning, artificial potential energy method, cost function

CLC Number:

TP391.9

Zeng Sijie, Yan Liang, Duan Xiaojun. Planning and Analysis on UAV Trajectory Based on PCE Method[J]. Journal of System Simulation, 2022, 34(1): 145-152.

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