Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/142568
Title: Real-time three-dimensional smooth path planning for unmanned aerial vehicles in completely unknown cluttered environments
Authors: Wu, Keyu
Xi, Tao
Wang, Han
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2017
Source: Wu, K., Xi, T., & Wang, H. (2017). Real-time three-dimensional smooth path planning for unmanned aerial vehicles in completely unknown cluttered environments. Proceedings of 2017 IEEE Region 10 Conference (TENCON 2017), 2017-2022. doi:10.1109/TENCON.2017.8228192
Abstract: This paper presents a real-time three-dimensional path planning algorithm for improving autonomous navigation of Unmanned Aerial Vehicles (UAVs) operating in completely unknown cluttered environments. The algorithm generates smooth paths consisting of continuous piecewise Bézier curves in real time. Specifically, a RRT-based waypoint generation algorithm is firstly proposed for the exploration of collision-free waypoints successively during flight. Besides, a novel real-time path smoothing technique is developed to generate continuous collision-free paths that satisfy the motion constraints of UAVs. This is achieved by fitting Bézier curves between consecutive waypoints based on the particle swarm optimization (PSO) algorithm. Lastly, a path selection strategy is also introduced to seek for an optimum path when multiple solutions are available. The simulation results demonstrate the superiority of the proposed real-time three-dimensional smooth path planning algorithm.
URI: https://hdl.handle.net/10356/142568
ISBN: 978-1-5090-1135-3
DOI: 10.1109/TENCON.2017.8228192
Rights: © 2017 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Conference Papers

SCOPUSTM   
Citations 20

7
Updated on Jan 28, 2023

Page view(s)

203
Updated on Feb 3, 2023

Google ScholarTM

Check

Altmetric


Plumx

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.