This paper presents a 3D online path planning algorithm for Unmanned Aerial Vehicles (UAVs) equipped with limited range sensors and computational resources in unknown cluttered environments. Even though quadrotor UAVs are considered to be a promising technology for surveillance purposes in indoor environments and for close observation in outdoor urban areas, it is very difficult to achieve autonomous aerial navigation toward a goal avoiding unpredicted collisions. Furthermore, greater attention and effort should be aimed at improving the computational efficiency and performance of path planning algorithms. The proposed heuristic algorithm offers on-the-fly path findings with a lesser computational complexity. We demonstrate the efficiency of our algorithm in a real world scenario implemented using the V-REP simulator.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Exploration Priority Based Heuristic Approach to UAV path planning



    Published in:

    Publication date :

    2013-08-01


    Size :

    556517 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Potential functions based sampling heuristic for optimal path planning

    Qureshi, A. H. | British Library Online Contents | 2016


    A conflict-based path-generation heuristic for evacuation planning

    Van Hentenryck, Pascal | Online Contents | 2016


    A conflict-based path-generation heuristic for evacuation planning

    Pillac, Victor / Van Hentenryck, Pascal / Even, Caroline | Elsevier | 2015



    A Meta-Heuristic Approach for an Aerial-Ground Vehicle Path Planning Problem

    Lee, Jaekyung J. / Rathinam, Sivakumar | AIAA | 2024