This paper addresses path planning algorithms for an uninhabited aerial vehicle (UAV) based on visibility lines (VL) method for real time applications. VL has been chosen because it provides a solution with optimal path length i.e. minimal distance travelled from starting point to target point. However, as known, the main problem with VL is that the computational burdensome grows exponentially as the number of obstacles increases; hence, the VL method cannot be applied in real-time applications especially when a large number of obstacles are present. To overcome such problems, we have developed algorithms based on VL called base line-oriented visibility line (BLOVL) and its associate, core algorithm (CA) in which only the obstacles that intersect with the base line and their extensions are considered. As these algorithms calculate the path relatively fast, they are capable to plan UAV's new path to avoid pop-up obstacles with minimal length and reach safely at the target point. Through simulations, BLOVL & CA algorithms have been proven to produce better results over the original VL method in term of processing time with optimal solution. Since both algorithms allow planning and re-planning executed faster, they are applicable for real-time applications in dynamic environments.
Visibility line based methods for UAV path planning
2009
6 Seiten, 13 Quellen
Aufsatz (Konferenz)
Englisch
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