The main purpose of drone flight is to find an optimal path without colliding with obstacles. The key point is to design a search algorithm. Path planning for searching a 2-dimensional (2D) map has been studied extensively and reached a mature stage. For a higher-dimensional configuration space, it is quite challenging. In this paper, a sampling based path planning method is proposed. It uses the rapidly-exploring random trees (RRT) concept. An improved guidance is proposed for reducing the search space in the present algorithm in a 3D clutter environment. Simulation is given to show the effectiveness of the proposed method.


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    Titel :

    Improved path planning algorithm of an informed RRT algorithm in 3D space


    Beteiligte:
    Tian, H. W. (Autor:in) / Huang, S. (Autor:in) / Wang, P. F. (Autor:in) / Xiang, C. (Autor:in) / Cao, J. (Autor:in) / Teo, R. S. H. (Autor:in)


    Erscheinungsdatum :

    2023-06-06


    Format / Umfang :

    2666875 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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