RRT* GL Based Optimal Path Planning for Real-Time Navigation of UAVs

2017 ◽  
pp. 585-595 ◽  
Author(s):  
Wilbert G. Aguilar ◽  
Stephanie Morales ◽  
Hugo Ruiz ◽  
Vanessa Abad
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Optimal Path ◽  
Optimal Path Planning

scholarly journals COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

2021 ◽  
Vol 9 (4) ◽  
pp. 405
Author(s):  
Raphael Zaccone
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Optimal Path ◽  
Open Water ◽  
Optimal Path Planning ◽  
Guidance And Control ◽  
Real Time Applications ◽  
And Control

While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

Non-Collision Path Planning of a Payload in Crane Operating Space

2013 ◽  
Vol 198 ◽  
pp. 559-564 ◽  
Author(s):  
Jaroslaw Smoczek ◽  
Janusz Szpytko ◽  
Pawel Hyla
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Optimal Path ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Star Graph ◽  
Graph Searching ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Operating Space

The problem of ensuring the safe and efficient cranes operations in automated manufacturing processes involves the automation of the operating workspace identification, non-collision and time-optimal path planning, and real-time following a payload along the determined path by crane motion mechanisms with expected precision. The paper describes the stereo vision based system used for identification of workspace of the laboratory scaled overhead travelling crane. The time-optimal trajectory of a payload is determined by using the A-star graph searching algorithm, and next real-time trucking by PLC-based crane control system.

scholarly journals An adaptive dual-optimal path-planning technique for unmanned air vehicles

2016 ◽  
Vol 7 ◽  
pp. A2 ◽  
Author(s):  
Clifford A. Whitfield
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Optimal Path ◽  
Flight Path ◽  
Flight Duration ◽  
Multi Objective ◽  
Optimal Path Planning ◽  
Area Of Interest ◽  
Conflicting Objectives ◽  
Planning Technique

A multi-objective technique for unmanned air vehicle path-planning generation through task allocation has been developed. The dual-optimal path-planning technique generates real-time adaptive flight paths based on available flight windows and environmental influenced objectives. The environmentally-influenced flight condition determines the aircraft optimal orientation within a downstream virtual window of possible vehicle destinations that is based on the vehicle’s kinematics. The intermittent results are then pursued by a dynamic optimization technique to determine the flight path. This path-planning technique is a multi-objective optimization procedure consisting of two goals that do not require additional information to combine the conflicting objectives into a single-objective. The technique was applied to solar-regenerative high altitude long endurance flight which can benefit significantly from an adaptive real-time path-planning technique. The objectives were to determine the minimum power required flight paths while maintaining maximum solar power for continual surveillance over an area of interest (AOI). The simulated path generation technique prolonged the flight duration over a sustained turn loiter flight path by approximately 2 months for a year of flight. The potential for prolonged solar powered flight was consistent for all latitude locations, including 2 months of available flight at 60° latitude, where sustained turn flight was no longer capable.

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