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2017 | OriginalPaper | Buchkapitel

RRT* GL Based Optimal Path Planning for Real-Time Navigation of UAVs

verfasst von : Wilbert G. Aguilar, Stephanie Morales, Hugo Ruiz, Vanessa Abad

Erschienen in: Advances in Computational Intelligence

Verlag: Springer International Publishing

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Abstract

In this paper, we propose a path planning system for autonomous navigation of unmanned aerial vehicle based on a Rapidly-exploring Random Trees (RRT) combination of RRT* Goal and Limit. The system includes a point cloud obtained from the vehicle workspace with a RGB-D sensor, an identification module for interest regions and obstacles of the environment, and a collision-free path planner based on RRT for a safe and optimal navigation of vehicles in 3D spaces.

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Vorheriges Kapitel Obstacle Avoidance for Flight Safety on Unmanned Aerial Vehicles

Nächstes Kapitel Visual SLAM with a RGB-D Camera on a Quadrotor UAV Using on-Board Processing

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Titel: RRT* GL Based Optimal Path Planning for Real-Time Navigation of UAVs
verfasst von: Wilbert G. Aguilar
Stephanie Morales
Hugo Ruiz
Vanessa Abad
Verlag: Springer International Publishing
Buch: Advances in Computational Intelligence
Print ISBN: 978-3-319-59146-9

Electronic ISBN: 978-3-319-59147-6

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-59147-6_50

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