TY - GEN
T1 - RRT∗ algorithm under holonomic conditions for UAVs
AU - Kang, Minyang
AU - Zeng, Yizhi
AU - Yao, Haonan
AU - Zhang, Jing
AU - Liu, Yanjie
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - Traditional path planning algorithms such as artificial potential field method, fuzzy rule method, genetic algorithm, simulated annealing algorithm, ant colony optimization algorithm, etc. are not suitable for solving path planning problems of robot with multi-degree of freedom in complex environment. Their computational complexity is exponential with robot freedom. This paper presents an RRT∗ algorithm under holonomic conditions facing anytime demand for UAVs. In the absence of differential constraints, the UAV can be degraded into mass points for consideration, and the path planning algorithm based on RRT (rapidly exploring random tree) can effectively solve the path planning problems in the condition of high dimensional space with complex constraints.
AB - Traditional path planning algorithms such as artificial potential field method, fuzzy rule method, genetic algorithm, simulated annealing algorithm, ant colony optimization algorithm, etc. are not suitable for solving path planning problems of robot with multi-degree of freedom in complex environment. Their computational complexity is exponential with robot freedom. This paper presents an RRT∗ algorithm under holonomic conditions facing anytime demand for UAVs. In the absence of differential constraints, the UAV can be degraded into mass points for consideration, and the path planning algorithm based on RRT (rapidly exploring random tree) can effectively solve the path planning problems in the condition of high dimensional space with complex constraints.
KW - Anytime
KW - Holonomic
KW - RRT
UR - https://www.scopus.com/pages/publications/85075152961
U2 - 10.1109/DASC/PiCom/CBDCom/CyberSciTech.2019.00135
DO - 10.1109/DASC/PiCom/CBDCom/CyberSciTech.2019.00135
M3 - 会议稿件
AN - SCOPUS:85075152961
T3 - Proceedings - IEEE 17th International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
SP - 716
EP - 720
BT - Proceedings - IEEE 17th International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
Y2 - 5 August 2019 through 8 August 2019
ER -