Motion planning is a pivotal area of research for intelligent mobile robots, including unmanned aerial vehicles (UAVs). This paper focuses on the motion planning problem for fixed-wing UAVs and proposes a modified Dubins-Rapidly-Exploring Random Tree*(MD-RRT*) algorithm. The algorithm refines the sampling function by eliminating random angle sampling. It also enlarges the safety radius to reduce the computational load of collision detection. Then, a proof for the reasonable boundary value of the enlarged safety radius is provided. Additionally, it outlines the applicability conditions of the proposed algorithm compared to the original Dubins-RRT* algorithm. Through simulations, it demonstrates that the proposed algorithm enhances the overall computational efficiency of the algorithm at the expense of certain sampling boundaries and achieves shorter average paths.


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    Titel :

    Motion Planning for Fixed-Wing UAV Using Modified Dubins-RRT* Algorithm


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Bi, Changyu (Autor:in) / Liu, Junhui (Autor:in) / Wang, Jianan (Autor:in) / Shan, Jiayuan (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Erscheinungsdatum :

    02.03.2025


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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