A good performance for path planning is essential to carry out real-world missions. In this paper, the path planning consists of a global planner, that finds the optimal path, and in a local planner, recalculates the path to avoid obstacles. The main focus is to improve the performance of local planning techniques decreasing the complexity. There are two main ways to do it: bidirectional algorithms, improving time, and global planners, improving time and completeness. Thus, we propose a global planner algorithm that generates auxiliary nodes, backtracking by the goal node. We perform a comparison among A*, Bi A*, Artificial Potential Field (APF), Bi APF, Rapid Exploring Random Tree (RRT), and Bi RRT with and without the global planner through statistical metrics of time, path length, CPU, and memory. The results show the advantages of using bidirectional algorithms and the proposed global planner. The bidirectional algorithms decrease the time to return to the trajectory and sometimes assist in the algorithm's completeness. The proposed global planner reduced the planning time by 91.6% and improved the completeness of all algorithms in an unstructured indoor environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A UAV Global Planner to Improve Path Planning in Unstructured Environments


    Beteiligte:
    Rocha, Lidia (Autor:in) / Aniceto, Marcela (Autor:in) / Araujo, Igor (Autor:in) / Vivaldini, Kelen (Autor:in)


    Erscheinungsdatum :

    15.06.2021


    Format / Umfang :

    3238458 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    UNSTRUCTURED VEHICLE PATH PLANNER

    HUANG ZHENQI / KOBILAROV MARIN | Europäisches Patentamt | 2024

    Freier Zugriff

    UNSTRUCTURED VEHICLE PATH PLANNER

    HUANG ZHENQI / HUDECEK JANEK / KOBILAROV MARIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Unstructured vehicle path planner

    HUANG ZHENQI / HUDECEK JANEK / KULARATNE DHANUSHKA NIRMEVAN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    UNSTRUCTURED VEHICLE PATH PLANNER

    HUANG ZHENQI / HUDECEK JANEK / KOBILAROV MARIN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Unstructured vehicle path planner

    HUANG ZHENQI / HUDECEK JOSEF / KOBILAROV MARIN et al. | Europäisches Patentamt | 2022

    Freier Zugriff