A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments

Sánchez López, José Luis and Wang, Min and Olivares Méndez, Miguel Ángel and Molina, Martin (2019). A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments. "Journal of Intelligent & Robotic Systems", v. 93 (n. 1-2); pp. 33-53. ISSN 1573-0409. https://doi.org/10.1007/s10846-018-0809-5.

Description

Title: A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Author/s:
  • Sánchez López, José Luis
  • Wang, Min
  • Olivares Méndez, Miguel Ángel
  • Molina, Martin
Item Type: Article
Journal/Publication Title: Journal of Intelligent & Robotic Systems
Date: February 2019
ISSN: 1573-0409
Volume: 93
Subjects:
Freetext Keywords: Path planning; Obstacle avoidance; Dynamic environments; Aerial robotics; Multirotor; UAV; MAV; Remotely operated vehicles; Mobile robots
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (3MB) | Preview

Abstract

Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for multirotor aerial robots to obtain a feasible, optimal and collision-free path in complex dynamic environments. High-level geometric primitives are employed to compactly represent the situation, which includes self-situation of the robot and situation of the obstacles in the environment. A probabilistic graph is utilized to sample the admissible space without taking into account the existing obstacles. Whenever a planning query is received, the generated probabilistic graph is then explored by an A⋆ discrete search algorithm with an artificial field map as cost function in order to obtain a raw optimal collision-free path, which is subsequently shortened. Realistic simulations in V-REP simulator have been created to validate the proposed path planning solution, integrating it into a fully autonomous multirotor aerial robotic system.

More information

Item ID: 67142
DC Identifier: http://oa.upm.es/67142/
OAI Identifier: oai:oa.upm.es:67142
DOI: 10.1007/s10846-018-0809-5
Official URL: https://link.springer.com/article/10.1007%2Fs10846-018-0809-5
Deposited by: Memoria Investigacion
Deposited on: 19 May 2021 16:09
Last Modified: 19 May 2021 16:09
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM