Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm

Qin Zekui; Wang Rui; Dong Xiwang; Li Qingdong; Fang Dongyang; Ren Zhang

doi:10.1109/GNCC42960.2018.9018965

Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm

Qin Zekui
, Wang Rui
, Dong Xiwang
, Li Qingdong
, Fang Dongyang
, Ren Zhang

Beihang University
Shanghai Electro-Mechanical Institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

This paper proposed a multi-constraint developed rapidly exploring random tree (RRT) algorithm to solve the problem of unmanned aerial vehicles (UAVs) path planning in three-dimensional environments. On the basis of traditional RRT algorithm, corner constraint and path length constraint are considered to restrict the turn angle and path length respectively, making the generated track satisfy conditions of flight. In addition, the third order Bezier curves are used to smooth the path. Finally, four groups of contrastive simulation results show advantages of the developed RRT algorithm over the traditional one.

Original language	English
Title of host publication	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538611715
DOIs	https://doi.org/10.1109/GNCC42960.2018.9018965
State	Published - Aug 2018
Event	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 - Xiamen, China Duration: 10 Aug 2018 → 12 Aug 2018

Publication series

Name	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

Conference

Conference	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Country/Territory	China
City	Xiamen
Period	10/08/18 → 12/08/18

Keywords

Developed RRT Algorithm
Multiple Constraints
Three Dimensional Environment
UAV Path Planning

Access to Document

10.1109/GNCC42960.2018.9018965

Cite this

Zekui, Q., Rui, W., Xiwang, D., Qingdong, L., Dongyang, F., & Zhang, R. (2018). Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm. In 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 Article 9018965 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GNCC42960.2018.9018965

@inproceedings{3f0523ecddb44fe790799bc113465861,

title = "Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm",

abstract = "This paper proposed a multi-constraint developed rapidly exploring random tree (RRT) algorithm to solve the problem of unmanned aerial vehicles (UAVs) path planning in three-dimensional environments. On the basis of traditional RRT algorithm, corner constraint and path length constraint are considered to restrict the turn angle and path length respectively, making the generated track satisfy conditions of flight. In addition, the third order Bezier curves are used to smooth the path. Finally, four groups of contrastive simulation results show advantages of the developed RRT algorithm over the traditional one.",

keywords = "Developed RRT Algorithm, Multiple Constraints, Three Dimensional Environment, UAV Path Planning",

author = "Qin Zekui and Wang Rui and Dong Xiwang and Li Qingdong and Fang Dongyang and Ren Zhang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 ; Conference date: 10-08-2018 Through 12-08-2018",

year = "2018",

month = aug,

doi = "10.1109/GNCC42960.2018.9018965",

language = "英语",

series = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

address = "美国",

}

Zekui, Q, Rui, W , Xiwang, D , Qingdong, L, Dongyang, F & Zhang, R 2018, Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm. in 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018., 9018965, 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Institute of Electrical and Electronics Engineers Inc., 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Xiamen, China, 10/08/18. https://doi.org/10.1109/GNCC42960.2018.9018965

Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm. / Zekui, Qin; Rui, Wang ; Xiwang, Dong et al.
2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 9018965 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm

AU - Zekui, Qin

AU - Rui, Wang

AU - Xiwang, Dong

AU - Qingdong, Li

AU - Dongyang, Fang

AU - Zhang, Ren

PY - 2018/8

Y1 - 2018/8

N2 - This paper proposed a multi-constraint developed rapidly exploring random tree (RRT) algorithm to solve the problem of unmanned aerial vehicles (UAVs) path planning in three-dimensional environments. On the basis of traditional RRT algorithm, corner constraint and path length constraint are considered to restrict the turn angle and path length respectively, making the generated track satisfy conditions of flight. In addition, the third order Bezier curves are used to smooth the path. Finally, four groups of contrastive simulation results show advantages of the developed RRT algorithm over the traditional one.

AB - This paper proposed a multi-constraint developed rapidly exploring random tree (RRT) algorithm to solve the problem of unmanned aerial vehicles (UAVs) path planning in three-dimensional environments. On the basis of traditional RRT algorithm, corner constraint and path length constraint are considered to restrict the turn angle and path length respectively, making the generated track satisfy conditions of flight. In addition, the third order Bezier curves are used to smooth the path. Finally, four groups of contrastive simulation results show advantages of the developed RRT algorithm over the traditional one.

KW - Developed RRT Algorithm

KW - Multiple Constraints

KW - Three Dimensional Environment

KW - UAV Path Planning

UR - https://www.scopus.com/pages/publications/85082437428

U2 - 10.1109/GNCC42960.2018.9018965

DO - 10.1109/GNCC42960.2018.9018965

M3 - 会议稿件

AN - SCOPUS:85082437428

T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

Y2 - 10 August 2018 through 12 August 2018

ER -

Zekui Q, Rui W , Xiwang D , Qingdong L, Dongyang F, Zhang R. Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm. In 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 9018965. (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018). doi: 10.1109/GNCC42960.2018.9018965

Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm

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