This work approaches the automatic planning of paths for Unmanned Aerial Vehicles (UAVs) through the application of the Rapidly Exploring Random Tree Star-Smart (RRT*-Smart) algorithm. RRT*-Smart is a sampling process of positions of a navigation environment through a tree-type graph. The algorithm consists of randomly expanding a tree from an initial position (root node) until one of its branches reaches the final position of the path to be planned. The algorithm ensures the planning of the shortest path, considering the number of iterations tending to infinity. When a new node is inserted into the tree, each neighbor node of the new node is connected to it, if and only if the extension of the path between the root node and that neighbor node, with this new connection, is less than the current extension of the path between those two nodes. RRT*-smart uses an intelligent sampling strategy to plan less extensive routes by spending a smaller number of iterations. This strategy is based on the creation of samples/nodes near to the convex vertices of the navigation environment obstacles. The planned paths are smoothed through the application of the method called quintic pythagorean hodograph curves. The smoothing process converts a route into a dynamically-viable one based on the kinematic constraints of the vehicle. This smoothing method models the hodograph components of a curve with polynomials that obey the Pythagorean Theorem. Its advantage is that the obtained structure allows computation of the curve length in an exact way, without the need for quadratural techniques for the resolution of integrals.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Application of Rapidly Exploring Random Tree Star-Smart and G2 Quintic Pythagorean Hodograph Curves to the UAV Path Planning Problem


    Beteiligte:

    Erscheinungsdatum :

    01.04.2018


    Anmerkungen:

    oai:zenodo.org:1316688
    International Journal of Mechanical, Industrial and Aerospace Sciences 11.0(5)



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    3D Path Planning for Multiple UAVs Using Pythagorean Hodograph Curves

    Shanmugavel, Madhavan / Tsourdos, Antonios / Zbikowski, Rafal et al. | AIAA | 2007


    Construction of planar quintic Pythagorean-hodograph curves by control-polygon constraints

    Farouki R. T. / Pelosi F. / Sampoli M. L. | BASE | 2023

    Freier Zugriff


    Path Planning of UAVs in Urban Region Using Pythagorean Hodograph Curves

    Shanmugavel, M. / Tsourdos, A. / White, B.A. et al. | British Library Conference Proceedings | 2012


    Path planning with Pythagorean-hodograph curves for unmanned or autonomous vehicles

    Farouki, Rida T / Giannelli, Carlotta / Mugnaini, Duccio et al. | SAGE Publications | 2018