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3D smooth path planning for a UAV in cluttered natural environments | IEEE Conference Publication | IEEE Xplore

3D smooth path planning for a UAV in cluttered natural environments


Abstract:

This paper presents a 3D path planing algorithm for an unmanned aerial vehicle (UAV) operating in cluttered natural environments. The algorithm satisfies the upper bounde...Show More

Abstract:

This paper presents a 3D path planing algorithm for an unmanned aerial vehicle (UAV) operating in cluttered natural environments. The algorithm satisfies the upper bounded curvature constraint and the continuous curvature requirement. In this work greater attention is placed on the computational complexity in comparison with other path-planning considerations. The rapidly-exploring random trees (RRTs) algorithm is used for the generation of collision free waypoints. The unnecessary waypoints are removed by a simple path pruning algorithm generating a piecewise linear path. Then a path smoothing algorithm utilizing cubic Bezier spiral curves to generate a continuous curvature path that satisfies the minimum radius of curvature constraint of UAV is implemented. The angle between two waypoints is the only information required for the generation of the continuous curvature path. The result shows that the suggested algorithm is simple and easy to implement compared with the Clothoids method.
Date of Conference: 22-26 September 2008
Date Added to IEEE Xplore: 14 October 2008
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Conference Location: Nice

References

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