Autonomous flying vehicles are promising transportation of the future, which have the function of ground vehicles and low-altitude aircraft. To plan a feasible path effectively, an improved optimal rapidly-exploring random tree (RRT*) method is proposed. Firstly, a cost function considering driving efficiency and the energy consumption is established. Then, the cost of a known feasible path, which flies from the start point to the goal point directly, is calculated as a benchmark. According to the benchmark, the planning area is reduced to an elliptical area. The proposed method is verified by simulations with an actual cross-country environment. Results show that the computation time decreased by 11.3% compared with the basic RRT* method.


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    Title :

    A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Fu, Wenxing (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Qie, Tianqi (author) / Wang, Weida (author) / Yang, Chao (author) / Li, Ying (author) / Liu, Wenjie (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022



    Publication date :

    2023-03-10


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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