Motion‐planning algorithms play a vital role in attaining various levels of autonomy for any ground or flying agent. Three‐dimensional (3D) motion‐planning is interesting, but rather com-plex, especially for flying agents such as autonomous unmanned aerial vehicles (UAVs), due to the increased dimensionality of space and consideration of dynamical constraints for a feasible trajec-tory. Usually, in 3D path search problems, it is hard to avoid extra expanded nodes due to increased dimensionality with various available search options. Therefore, this paper discusses and imple-ments a modified heuristic‐based A* formalism that uses a truncation mechanism in order to erad-icate the mentioned problem. In this formalism, the complete motion planning is divided into shortest path search problem and smooth trajectory generation. The shortest path search problem is sub-divided into an initial naïve guess of the path and the truncation of the extra nodes. To find a naïve shortest path, a conventional two‐dimensional (2D) A* algorithm is augmented for 3D space with six‐sided search. This approach led to the inclusion of extra expanded nodes and, therefore, it is not the shortest one. Hence, a truncation algorithm is developed to further process this path in order to truncate the extra expanded nodes and then to shorten the path length. This new approach signifi-cantly reduces the path length and renders only those nodes that are obstacle‐free. The latter is ensured using a collision detection algorithm during the truncation process. Subsequently, the nodes of this shortened path are used to generate a dynamically feasible and optimal trajectory for the quadrotor UAV. Optimal trajectory generation requires that the plant dynamics must be differ-entially flat. Therefore, the corresponding proof is presented to ensure generation of the optimal trajectory. This optimal trajectory minimizes the control effort and ensures longer endurance. More-over, quadrotor model and controllers are derived as preliminaries, which are ...


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Modified A‐Star (A*) Approach to Plan the Motion of a Quadrotor UAV in Three‐Dimensional Obstacle‐Cluttered Environment


    Beteiligte:
    Farid G. (Autor:in) / Cocuzza S. (Autor:in) / Younas T. (Autor:in) / Razzaqi A. A. (Autor:in) / Wattoo W. A. (Autor:in) / Cannella F. (Autor:in) / Mo H. (Autor:in) / Farid, G. / Cocuzza, S. / Younas, T.

    Erscheinungsdatum :

    2022-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629