3-D Online Route Planning for UAVs Based on An Improved PRM

摘要：

An improved PRM is proposed to plan the 3-D online route for UAVs. The improvement of milestones generation algorithm and the strategy of roadmap enhancement are proposed to improve the success rate and efficiency of optimal route search. The constraints of planning space are embedded into the local planner to reduce the scale of the roadmaps. The improved PRM is used to the 3-D online route planning based on the partial renewal strategy. The simulation results show- that the 3-D online routes can be gotten accurately and efficiently from the proposed improved PRM.

关键词： Unmanned Aeriat Vehicles (UAVs) route planning Probabilistic Roadmap Method (PRM) roadmap enhanced strategy partial renewal

作者: Zhengxiong Jiang Xinmin Wang Rong Xie

作者单位: School of Automation Northwestern Polytechnical University Xian, China

会议类型: 国际会议

会议名称: The 13th IEEE Joint International Computer Science and Information Technology Conference(2011年第13届IEEE联合国际计算机科学与信息技术会议 JICSIT 2011)

会议地点: 重庆

会议语种:英文

页码: 60-64

在线出版日期: 2011-08-20（万方平台首次上网日期，不代表论文的发表时间）