In this paper, a path planning algorithm is proposed for dynamic obstacle avoidance by improving a rapidly exploring random tree (RRT) algorithm, a sampling-based path-planning algorithm. Although guaranteeing a globally optimal path is impossible when using RRT algorithm, it is advantageous because it can generate the path quickly. Considering this advantage of the RRT algorithm, the directed RRT (DRRT) algorithm was developed, which reduces the generation time and supplements optimality by improving node generation and tree expansion process. It is also added the path smoothing method for the flight. The anytime DRRT algorithm is based on the DRRT algorithm and repeats path generation within the time limit considering the direction of movement of the obstacle and selects the shortest path for the flight. Air collision avoidance between unmanned aerial vehicles (UAVs) considering the intruders as a dynamic obstacle was simulated using the Gazebo simulator. Based on the simulation, the performance of the proposed anytime DRRT algorithm was verified with varying the host UAV and intruder conditions, and its applicability to UAVs was affirmed.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Real-Time Directed Rapidly Exploring Random Tree Path Planning for Air Collision Avoidance


    Beteiligte:
    Lee, Minkyu (Autor:in) / Noh, Geemoon (Autor:in) / Park, Jihoon (Autor:in) / Lee, Daewoo (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2022-03-17


    Format / Umfang :

    14 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    UAV Collision Avoidance using a Predictive Rapidly-Exploring Random Tree (RRT)

    Bhandari, Subodh / Farinella, Jeremiah / Lay, Clayton | AIAA | 2016



    UAV Collision Avoidance using a Predictive Rapidly-Exploring Random Tree (RRT) (AIAA 2016-2197)

    Bhandari, Subodh / Farinella, Jeremiah / Lay, Clayton | British Library Conference Proceedings | 2016


    Simplified and Smoothed Rapidly-Exploring Random Tree Algorithm for Robot Path Planning

    Gültekin, Ayhan / Diri, Samet / Becerikli, Yaşar | BASE | 2023

    Freier Zugriff