TY - GEN
T1 - Adaptively Dynamic RRT*-Connect
T2 - 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022
AU - Chen, Yicheng
AU - Wang, Lingling
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Path planning for Unmanned Aerial Vehicles (UAVs), especially in three-dimensional environments with dynamic obstacles, is an active area of research. In recent years, RRT-based algorithms have been attracting significant interest, and various improvements are introduced to RRT to make it applicable in such scenarios. Some methods leverage re-planning mechanisms to avoid collision with the dynamic threats, however, most of them fail to fully reuse historical information, hence having limitations in saving the planning costs. This paper presents Adaptively Dynamic RRT*-Connect (ADRRT*-Connect), a novel RRT-based path planning algorithm that enables UAVs to fly safely in three-dimensional environments with dynamic threats. To improve efficiency in sampling new nodes, we propose a strategy to automatically adjust the heuristic factor based on feedback from the sampling results. For avoiding collision with dynamic threats, we introduce a pruning-reconnecting mechanism to repair the path when new obstacles emerge. Our approach is economical in the consumption of tree nodes. In comparison to existing benchmarks, simulations have shown that our proposed algorithm only requires 3.5% new nodes to repair the path in re-planning.
AB - Path planning for Unmanned Aerial Vehicles (UAVs), especially in three-dimensional environments with dynamic obstacles, is an active area of research. In recent years, RRT-based algorithms have been attracting significant interest, and various improvements are introduced to RRT to make it applicable in such scenarios. Some methods leverage re-planning mechanisms to avoid collision with the dynamic threats, however, most of them fail to fully reuse historical information, hence having limitations in saving the planning costs. This paper presents Adaptively Dynamic RRT*-Connect (ADRRT*-Connect), a novel RRT-based path planning algorithm that enables UAVs to fly safely in three-dimensional environments with dynamic threats. To improve efficiency in sampling new nodes, we propose a strategy to automatically adjust the heuristic factor based on feedback from the sampling results. For avoiding collision with dynamic threats, we introduce a pruning-reconnecting mechanism to repair the path when new obstacles emerge. Our approach is economical in the consumption of tree nodes. In comparison to existing benchmarks, simulations have shown that our proposed algorithm only requires 3.5% new nodes to repair the path in re-planning.
KW - Dynamic Environment
KW - Path Planning
KW - Rapidly-exploring Random Tree
KW - Unmanned Aerial Vehicle
UR - https://www.scopus.com/pages/publications/85136334064
U2 - 10.1109/CACRE54574.2022.9834188
DO - 10.1109/CACRE54574.2022.9834188
M3 - 会议稿件
AN - SCOPUS:85136334064
T3 - Proceedings - 2022 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022
SP - 1
EP - 7
BT - Proceedings - 2022 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022
A2 - Zhang, Fumin
A2 - Chen, Guimin
A2 - Zhang, Lichuan
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 July 2022 through 16 July 2022
ER -