Unmanned aerial vehicles (UAVs) have emerged as promising platforms for fast, energy-efficient, and cost-effective package delivery. Path planning in 3-D urban environments is critical to drone delivery. The paper proposes a novel tangent-based (3D-TG) method for UAV path planning in 3-D urban environments. When a drone encounters an obstacle, a tangent graph is constructed to generate three sub-paths from both sides and above to bypass an obstacle, one of which is selected according to sophistically designed heuristic rules. The selected sub-path would be constantly adjusted its direction via tangent graph to avoid obstacles until the path can extend to the goal without obstacle collision. To avoid moving obstacles, velocity obstacle is incorporated in the 3D-TG. The experimental results on synthetic and realistic scenarios illustrate that 3D-TG performs well under static, unknown and dynamic environments. More significantly, 3D-TG can also generate a collision-free path for a drone to navigate through simple mazes efficiently, within a reasonable time.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Tangent-Based Path Planning for UAV in a 3-D Low Altitude Urban Environment


    Beteiligte:
    Liu, Huan (Autor:in) / Wu, Guohua (Autor:in) / Zhou, Ling (Autor:in) / Pedrycz, Witold (Autor:in) / Suganthan, Ponnuthurai Nagaratnam (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2023-11-01


    Format / Umfang :

    3560177 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Joint search method for UAV multiobjective path planning in urban low altitude environment

    CAO XIANBIN / XIAO ZHENYU / YANG PENG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    JOINT SEARCH METHOD FOR UAV MULTIOBJECTIVE PATH PLANNING IN URBAN LOW ALTITUDE ENVIRONMENT

    CAO XIANBIN / XIAO ZHENYU / YANG PENG et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    UAV Path Planning for Cave Exploration Using Tangent Based Intersection Method

    Banday, Bazeela / Kasula, Vineethkumar / Surwade, Nakul et al. | AIAA | 2024



    Simplex Optimal Control Methods for Urban Environment Path Planning

    Zollars, Michael D. / Cobb, Richard G. / Grymin, David J. | AIAA | 2018