Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV

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	Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV
	Yang L(杨亮); Qi JT(齐俊桐); Jiang ZY(江紫亚); Song DL(宋大雷); Han JD(韩建达); Xiao, Jizhong
	2014
会议名称	11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
会议日期	August 3-6, 2014
会议地点	Tianjin, China
关键词	Algorithms Forestry Motion planning Trees (mathematics)
页码	1182-1187
通讯作者	杨亮
中文摘要	This paper proposes a path planning algorithm called guiding attraction based random tree (GART), which is built upon the famous sampling-based algorithm RRT to generate a near optimal path in real time for unmanned aerial vehicle (UAV) navigation under uncertainty. The algorithm takes UAV heading dynamic constraint and 'obstacle safe attraction' into consideration, and uses a descriptive set method to describe the uncertainty caused by control and sensing error. The analysis shows that the computational complexity of GART is within a constant factor of RRT and RRT. A number of detailed comparisons of the proposed algorithm with RRT in 2D are given which verify the efficiency of our algorithm. Moreover, 3D simulation results demonstrate that GART find the near optimal path only after 2400 iterations, which means that GART outperformed RRT by 833%. © 2014 IEEE.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
会议录出版者	IEEE Computer Society
会议录出版地	Washington, DC
语种	英语
ISBN号	978-1-4799-3978-7
WOS记录号	WOS:000366848100205
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15153]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yang L,Qi JT,Jiang ZY,et al. Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV[C]. 见:11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014. Tianjin, China. August 3-6, 2014.