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RRT-based 3D path planning for formation landing of quadrotor UAVs | IEEE Conference Publication | IEEE Xplore

RRT-based 3D path planning for formation landing of quadrotor UAVs


Abstract:

This paper discusses the formation landing problem of quadrotor UAVs, which is considered as a UAV leader-follower problem, avoiding static obstacles. Rapidly-exploring r...Show More

Abstract:

This paper discusses the formation landing problem of quadrotor UAVs, which is considered as a UAV leader-follower problem, avoiding static obstacles. Rapidly-exploring random tree algorithm is used to generate the path for the leader UAV firstly. In particular, specifics of tree-grow including nodes selection, parent node connection, feasible and optimal path generation are explained. Given the leader UAV position, path finding for the follower UAV is conducted to avoid both static obstacles and the leader quadrotor. Based on the intensive simulations, which are conducted in ROS-Gazebo environment, the proposed framework is considered to be applicable in real-time formation landing of quadrotor UAVs.
Date of Conference: 13-15 November 2016
Date Added to IEEE Xplore: 02 February 2017
ISBN Information:
Conference Location: Phuket, Thailand

References

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