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

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

9 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
ISBN（电子版）	9781538611715
DOI	https://doi.org/10.1109/GNCC42960.2018.9018965
出版状态	已出版 - 8月 2018
活动	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 - Xiamen, 中国期限: 10 8月 2018 → 12 8月 2018

丛书

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

会议

会议	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
国家/地区	中国
市	Xiamen
时期	10/08/18 → 12/08/18

访问文件

10.1109/GNCC42960.2018.9018965

其它文件与链接

链接到 Scopus 的出版物

引用此

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. 在 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 期刊论文 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. 在 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, 中国, 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 等.
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).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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. 在 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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