scholarly journals Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Karima Benzaid ◽  
Romain Marie ◽  
Noura Mansouri ◽  
Ouiddad Labbani-Igbida
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Planning Problem ◽  
Medial Surface ◽  
Planning Approach ◽  
Aerial Vehicle ◽  
Generalized Voronoi Graph ◽  
Core Idea ◽  
Voronoi Graph ◽  
Uav Navigation

This paper introduces an original 3D path planning approach for Unmanned Aerial Vehicle (UAV) applications. More specifically, the core idea is to generate a smooth and collision-free path with respect to the vehicle dimension. Given a 3D grid representation of the environment, the Generalized Voronoi Graph (GVG) is first approximated using a filtered medial surface (FMS) algorithm on the corresponding navigable space. Based on an efficient pruning criterion, the produced FMS excludes GVG portions corresponding to narrow passages unfitting safe UAV navigation constraints, and thus it defines a set of guaranteed safe trajectories within the environment. Given a set of starting and destination coordinates, an adapted A-star algorithm is then applied to compute the shortest path on the FMS. Finally, an optimization process ensures the smoothness of the final path by fitting a set of 3D Bézier curves to the initial path. For a comparative study, the A-star algorithm is applied directly on the input environment representation and relevant comparative criteria are defined to assert the proposed approach using simulation results.

scholarly journals R-DFS: A Coverage Path Planning Approach Based on Region Optimal Decomposition

2021 ◽  
Vol 13 (8) ◽  
pp. 1525
Author(s):  
Gang Tang ◽  
Congqiang Tang ◽  
Hao Zhou ◽  
Christophe Claramunt ◽  
Shaoyang Men
Keyword(s):  
Path Planning ◽  
Google Earth ◽  
Simulation Experiments ◽  
Minimum Width ◽  
Coverage Path Planning ◽  
Optimal Paths ◽  
Planning Approach ◽  
Polygonal Area ◽  
Aerial Vehicle ◽  
Working Distance

Most Coverage Path Planning (CPP) strategies based on the minimum width of a concave polygonal area are very likely to generate non-optimal paths with many turns. This paper introduces a CPP method based on a Region Optimal Decomposition (ROD) that overcomes this limitation when applied to the path planning of an Unmanned Aerial Vehicle (UAV) in a port environment. The principle of the approach is to first apply a ROD to a Google Earth image of a port and combining the resulting sub-regions by an improved Depth-First-Search (DFS) algorithm. Finally, a genetic algorithm determines the traversal order of all sub-regions. The simulation experiments show that the combination of ROD and improved DFS algorithm can reduce the number of turns by 4.34%, increase the coverage rate by more than 10%, and shorten the non-working distance by about 29.91%. Overall, the whole approach provides a sound solution for the CPP and operations of UAVs in port environments.

Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

1994 ◽  
Author(s):  
Duane W. Storti ◽  
Debasish Dutta
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Configuration Space ◽  
Local Knowledge ◽  
Three Dimensional ◽  
Target Point ◽  
Planning Problem ◽  
Spherical Object ◽  
Starting Point ◽  
Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

A Collision-Free Path Planning Approach for Multiple Robots Under Warehouse Scenarios

2019 ◽  
pp. 55-63
Author(s):  
Xiaoxiao Zhuang ◽  
Guangsheng Feng ◽  
Haibin Lv ◽  
Hongwu Lv ◽  
Huiqiang Wang ◽  
...  
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Multiple Robots ◽  
Planning Approach

Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle

2021 ◽  
pp. 426-439
Author(s):  
César A. Cárdenas R. ◽  
V. Landero ◽  
Ramón E. R. González ◽  
Paola Ariza-Colpas ◽  
Emiro De-la-Hoz-Franco ◽  
...  
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Planning Approach ◽  
Aerial Vehicle

scholarly journals Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Yongqiang Qi ◽  
Shuai Li ◽  
Yi Ke
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Interpolation Method ◽  
Three Dimensional ◽  
Planning Problem ◽  
Perturbation Matrix ◽  
Fluid Field ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Tangential Vector

In this paper, a three-dimensional path planning problem of an unmanned aerial vehicle under constant thrust is studied based on the artificial fluid method. The effect of obstacles on the original fluid field is quantified by the perturbation matrix, the streamlines can be regarded as the planned path for the unmanned aerial vehicle, and the tangential vector and the disturbance matrix of the artificial fluid method are improved. In particular, this paper addresses a novel algorithm of constant thrust fitting which is proposed through the impulse compensation, and then the constant thrust switching control scheme based on the isochronous interpolation method is given. It is proved that the planned path can avoid all obstacles smoothly and swiftly and reach the destination eventually. Simulation results demonstrate the effectiveness of this method.

Offline decoupled path planning approach for effective coordination of multiple robots

Robotica ◽  
2009 ◽  
Vol 28 (4) ◽  
pp. 477-491 ◽  
Author(s):  
Shital S. Chiddarwar ◽  
N. Ramesh Babu
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Minimum Distance ◽  
Degrees Of Freedom ◽  
Multiple Robots ◽  
A Algorithm ◽  
Two Phase ◽  
Six Degrees Of Freedom ◽  
Planning Approach ◽  
End Effectors

SUMMARYIn this paper, a decoupled offline path planning approach for determining the collision-free path of end effectors of multiple robots involved in coordinated manipulation is proposed. The proposed approach for decoupled path planning is a two-phase approach in which the path for coordinated manipulation is generated with a coupled interaction between collision checking and path planning techniques. Collision checking is done by modelling the links and environment of robot using swept sphere volume technique and utilizing minimum distance heuristic for interference check. While determining the path of the end effector of robots involved in coordinated manipulation, the obstacles present in the workspace are considered as static obstacles and the links of the robots are viewed as dynamic obstacles by the other robot. Coordination is done in offline mode by implementing replanning strategy which adopts incremental A* algorithm for searching the collision-free path. The effectiveness of proposed decoupled approach is demonstrated by considering two examples having multiple six degrees of freedom robots operating in 3D work cell environment with certain static obstacles.

scholarly journals Improved Particle Swarm Optimization of Three-Dimensional Path Planning for Fixed Wing Unmanned Aerial Vehicle

2019 ◽  
Vol 35 (2) ◽  
Author(s):  
Giang Thi - Huong Dang ◽  
Quang - Huy Vuong ◽  
Minh Hoang Ha ◽  
Minh - Trien Pham
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Particle Swarm ◽  
Adaptive Mutation ◽  
Planning Problem ◽  
Swarm Optimization ◽  
3D Environment ◽  
Aerial Vehicle ◽  
Improved Pso

Path planning for Unmanned Aerial Vehicle (UAV) targets at generating an optimal global path to the target, avoiding collisions and optimizing the given cost function under constraints. In this paper, the path planning problem for UAV in pre-known 3D environment is presented. Particle Swarm Optimization (PSO) was proved the efficiency for various problems. PSO has high convergence speed yet with its major drawback of premature convergence when solving large-scale optimization problems. In this paper, the improved PSO with adaptive mutation to overcome its drawback in order to applied PSO the UAV path planning in real 3D environment which composed of mountains and constraints. The effectiveness of the proposed PSO algorithm is compared to Genetic Algorithm, standard PSO and other improved PSO using 3D map of Daklak, Dakrong and Langco Beach. The results have shown the potential for applying proposed algorithm in optimizing the 3D UAV path planning. Keywords: UAV, Path planning, PSO, Optimization.

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