Online Creating an Improved UAV Path in Complex and Hostile Environments
We propose a cost based rapidly-exploring random tree method (CBRRT) to plan an improved path under complex obstacles and threats,limited deliberation time and constraints.The sampling space reduction of the dynamic domain rapidlyexploring random tree method (DDRRT) is improved and heuristics are applied,to guide the path tree to avoid threats and obstacles quickly,to rapidly find a low threat initial path.Meanwhile,the sampling space reduction is utilized to accelerate the path improving procedure of RRT* by limiting the path improving scope to appropriate areas.The reduction is constructed according to the real-time tree growth which provides the environmental information for DDRRT and RRT* as heuristic clues.The constraints and UAV motion are taken into account during the creation of the path.To make the path easier for UAV to follow,a cost based waypoints pruning method (CBP) is proposed,and the curvature-continuous Dubins curve is applied to smooth the path.The simulation results verify that CBRRT and CBP behave well in our environments.
component Online path planning,sampling space reduction,path improving,RRT,waypoints pruning
Naifeng Wen Xiaohong Su Peijun Ma Lingling Zhao
School of Computer Science and Technology Harbin Institute of Technology, Harbin, China
国际会议
秦皇岛
英文
962-967
2015-09-18（万方平台首次上网日期，不代表论文的发表时间）