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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    Title :

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


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


    Publication date :

    2023-06-06


    Size :

    2666875 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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