A joint global and local path planning optimization for UAV task scheduling towards crowd air monitoring

2021 ◽  
Vol 193 ◽  
pp. 107913
Author(s):  
Yuan Tang ◽  
Yiming Miao ◽  
Ahmed Barnawi ◽  
Bander Alzahrani ◽  
Reem Alotaibi ◽  
...  
Keyword(s):  
Path Planning ◽  
Task Scheduling ◽  
Air Monitoring ◽  
Local Path Planning ◽  
Planning Optimization ◽  
Local Path ◽  
Global And Local

scholarly journals Global and Local Path Planning of MicroIV for Traffic Flow Modeling and Simulation

2013 ◽  
Vol 46 (13) ◽  
pp. 502-507
Author(s):  
Lindong GUO ◽  
Ming YANG ◽  
Zhengchen LU ◽  
Bing WANG ◽  
Chunxiang WANG
Keyword(s):  
Path Planning ◽  
Modeling And Simulation ◽  
Traffic Flow ◽  
Flow Modeling ◽  
Local Path Planning ◽  
Local Path ◽  
Global And Local

scholarly journals Laser simulator

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880472 ◽  
Author(s):  
Mohammed AH Ali ◽  
Musa Mailah
Keyword(s):  
Path Planning ◽  
A Algorithm ◽  
Fast Marching ◽  
The Real ◽  
Robot Trajectory ◽  
Local Path Planning ◽  
Local Environments ◽  
Local Path ◽  
Search Graph ◽  
Global And Local

A novel technique called laser simulator approach for visibility search graph-based path planning has been developed in this article to determine the optimum collision-free path in unknown environment. With such approach, it is possible to apply constraints on the mobile robot trajectory while navigating in complex terrains such as in factories and road environments, as the first work of its kind. The main advantage of this approach is the ability to be used for both global/local path planning in the presence of constraints and obstacles in unknown environments. The principle of the laser simulator approach with all possibilities and cases that could emerge during path planning is explained to determine the path from initial to destination positions in a two-dimensional map. In addition, a comparative study on the laser simulator approach, A* algorithm, Voronoi diagram with fast marching and PointBug algorithms was performed to show the benefits and drawbacks of the proposed approach. A case study on the utilization of the laser simulator in both global and local path planning has been applied in a road roundabout setting which is regarded as a complex environment for robot path planning. In global path planning, the path is generated within a grid map of the roundabout environment to select the path according to the respective road rules. It is also used to recognize the real roundabout from a sequence of images during local path planning in the real-world system. Results show that the performance of the proposed laser simulator approach in both global and local environments is achieved with low computational and path costs, in which the optimum path from the selected start position to the goal point is tracked accordingly in the presence of the obstacles.

A General Purpose Approach for Global and Local Path Planning Combination

2015 ◽  
Author(s):  
Andrea Signifredi ◽  
Bombini Luca ◽  
Alessandro Coati ◽  
Javier Sanchez Medina ◽  
Daniele Molinari
Keyword(s):  
Path Planning ◽  
General Purpose ◽  
Local Path Planning ◽  
Local Path ◽  
Global And Local

scholarly journals A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1488
Author(s):  
Federico Peralta ◽  
Mario Arzamendia ◽  
Derlis Gregor ◽  
Daniel G. Reina ◽  
Sergio Toral
Keyword(s):  
Path Planning ◽  
Random Trees ◽  
Fast Marching Method ◽  
Fast Marching ◽  
Planning Techniques ◽  
Advantages And Disadvantages ◽  
Autonomous Surface Vehicle ◽  
Local Path Planning ◽  
Custom Made ◽  
Local Path

Local path planning is important in the development of autonomous vehicles since it allows a vehicle to adapt their movements to dynamic environments, for instance, when obstacles are detected. This work presents an evaluation of the performance of different local path planning techniques for an Autonomous Surface Vehicle, using a custom-made simulator based on the open-source Robotarium framework. The conducted simulations allow to verify, compare and visualize the solutions of the different techniques. The selected techniques for evaluation include A*, Potential Fields (PF), Rapidly-Exploring Random Trees* (RRT*) and variations of the Fast Marching Method (FMM), along with a proposed new method called Updating the Fast Marching Square method (uFMS). The evaluation proposed in this work includes ways to summarize time and safety measures for local path planning techniques. The results in a Lake environment present the advantages and disadvantages of using each technique. The proposed uFMS and A* have been shown to achieve interesting performance in terms of processing time, distance travelled and security levels. Furthermore, the proposed uFMS algorithm is capable of generating smoother routes.

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