{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:42:55Z","timestamp":1760888575166,"version":"3.38.0"},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2011,9,15]],"date-time":"2011-09-15T00:00:00Z","timestamp":1316044800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2012,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, an approach based on linear programming (LP) is proposed for path planning in three-dimensional space, in which an aerial vehicle is requested to pursue a target while avoiding static or dynamic obstacles. This problem is very meaningful for many aerial robots, such as unmanned aerial vehicles. First, the tasks of target-pursuit and obstacle-avoidance are modelled with linear constraints in relative coordination according to LP formulation. Then, two weighted cost functions, representing the optimal velocity resolution, are integrated into the final objective function. This resolution, defined to achieve the optimal velocity, deals with the optimization of a pair of orthogonal vectors. Some constraints, such as boundaries of the vehicle velocity, acceleration, sensor range, and flying height, are considered in this method. A number of simulations, under static and dynamic environments, are carried out to validate the performance of generating optimal trajectory in real time. Compared with ant colony optimization algorithm and genetic algorithm, our method has less parameters to tune and can achieve better performance in real-time application.<\/jats:p>","DOI":"10.1017\/s0263574711000993","type":"journal-article","created":{"date-parts":[[2011,9,15]],"date-time":"2011-09-15T13:06:10Z","timestamp":1316091970000},"page":"773-781","source":"Crossref","is-referenced-by-count":16,"title":["Three-dimensional path planning for unmanned aerial vehicle based on linear programming"],"prefix":"10.1017","volume":"30","author":[{"given":"Yang","family":"Chen","sequence":"first","affiliation":[]},{"given":"Jianda","family":"Han","sequence":"additional","affiliation":[]},{"given":"Xingang","family":"Zhao","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,9,15]]},"reference":[{"key":"S0263574711000993_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002015"},{"key":"S0263574711000993_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/21.105088"},{"key":"S0263574711000993_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9276-8"},{"key":"S0263574711000993_ref15","first-page":"9084","volume-title":"Proceedings of the 6th World Congress on Intelligent Control and Automation","author":"Zu","year":"2006"},{"key":"S0263574711000993_ref5","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-387-09538-7","volume-title":"Autonomous Robots Modeling, Path Planning, and Control","author":"Fahimi","year":"2009"},{"key":"S0263574711000993_ref18","unstructured":"18. Applegate D. , Cook W. , Dash S. and Mevenkamp M. , QSopt Callable Library [online]. Available at: http:\/\/www2.isye.gatech.edu\/~wcook\/qsopt\/ Accessed May 4, 2011."},{"volume-title":"Vega Prime Getting Started Guide, Version 2.0","year":"2005","key":"S0263574711000993_ref20"},{"key":"S0263574711000993_ref2","doi-asserted-by":"crossref","unstructured":"2. Kitamura Y. , Tanaka T. , Kishino F. and Yachida M. , \u201c3-D path planning in a dynamic environment using an octree and an artificial potential field,\u201d In: Proceeding of IEEE\/RSJ International Conference on Intelligent Robots & Systems (IROS), (Oct. 11\u201315, 1995) pp. 474\u2013481.","DOI":"10.1109\/IROS.1995.526259"},{"key":"S0263574711000993_ref12","unstructured":"12. Krenzke T. , \u201cAnt Colony Optimization for Agile Motion Planning,\u201d Master's Thesis (MIT, Cambridge, MA, 2006)."},{"key":"S0263574711000993_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/70.880813"},{"key":"S0263574711000993_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICIEA.2007.4318681"},{"key":"S0263574711000993_ref9","first-page":"3195","volume-title":"Proceedings of the IEEE Congress on Evolutionary Computation","author":"Mittal","year":"2007"},{"key":"S0263574711000993_ref16","first-page":"1936","volume-title":"Proceedings of the American Control Conference","author":"Richards","year":"2002"},{"key":"S0263574711000993_ref13","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700706"},{"key":"S0263574711000993_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"S0263574711000993_ref17","first-page":"5576","volume-title":"Proceedings of the American Control Conference","author":"Schouwenaars","year":"2004"},{"key":"S0263574711000993_ref3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000520"},{"key":"S0263574711000993_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2007.10.011"},{"volume-title":"AIAA Guidance, Navigation and Control Conference and Exhibit, AIAA 2007\u20136741","year":"2007","author":"Zhao","key":"S0263574711000993_ref10"},{"key":"S0263574711000993_ref8","doi-asserted-by":"crossref","unstructured":"8. Foo J. , Knutzon J. , Oliver J. and Winer E. , \u201cThree-dimensional path planning of unmanned aerial vehicles using particle swarm optimization,\u201d Proceedings of the 11th AIAA\/ISSMO Multidisciplinary Analysis and Optimization Conference (AIAA 2006\u20136995) (Sep. 6\u20138, 2006).","DOI":"10.2514\/6.2006-6995"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711000993","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,11]],"date-time":"2025-03-11T03:25:26Z","timestamp":1741663526000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711000993\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,9,15]]},"references-count":20,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2012,9]]}},"alternative-id":["S0263574711000993"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711000993","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2011,9,15]]}}}