Abstract
Advancements in Unmanned Aerial Vehicles (UAVs) design, actuator and sensory systems and control are making such devices financially available to a wide spectrum of users with various demands and expectations. To mitigate with this ever increasing demand robust, efficient and application–specific path planning is important. This paper presents advancements over the A* and the smoothing algorithms presented in, 1 utilising the same test scenarios. Analysis of results in 1 showed a ripple in path length as the resolution changes for all scenarios considered and less than 0.1% path length improvements after certain amount of smoothing iterates. To attenuate the path length ripple, the A* ripple reduction algorithm was developed. Results show a reduction of more than 46% in terms of standard deviation with respect to the original A* algorithm without any increase in the mean path length for all scenarios. Secondly, the smoothing algorithm developed in 1 was improved to stop smoothing based on the rate of smoothing of previous iterates. Results show more than 10 multiple less path smoothing time maintaining a path length reduction especially for simple scenarios. These advancements further portray the discussed path planning algorithms as candidates to the realisation of online 3D UAV path planning.
Original language | English |
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Title of host publication | AIAA Scitech 2019 Forum |
Subtitle of host publication | 7-11 January 2019, San Diego, California, USA |
Number of pages | 17 |
ISBN (Electronic) | 978-1-62410-578-4 |
DOIs | |
Publication status | Published - 2019 |
Event | AIAA Scitech Forum, 2019 - San Diego, United States Duration: 7 Jan 2019 → 11 Jan 2019 https://arc.aiaa.org/doi/book/10.2514/MSCITECH19 |
Conference
Conference | AIAA Scitech Forum, 2019 |
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Country/Territory | United States |
City | San Diego |
Period | 7/01/19 → 11/01/19 |
Internet address |