A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm

被引：1
|
作者：
Qie, Tianqi [1 ]
Wang, Weida [1 ]
Yang, Chao [1 ]
Li, Ying [1 ]
Liu, Wenjie [1 ]
机构：
[1] Beijing Inst Technol, Beijing 100081, Peoples R China
来源：
PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022 | 2023年 / 1010卷
关键词：
Autonomous flying vehicles; Path planning; Rapidly-exploring random tree;
D O I：
10.1007/978-981-99-0479-2_338
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Autonomous flying vehicles are promising transportation of the future, which have the function of ground vehicles and low-altitude aircraft. To plan a feasible path effectively, an improved optimal rapidly-exploring random tree (RRT*) method is proposed. Firstly, a cost function considering driving efficiency and the energy consumption is established. Then, the cost of a known feasible path, which flies from the start point to the goal point directly, is calculated as a benchmark. According to the benchmark, the planning area is reduced to an elliptical area. The proposed method is verified by simulations with an actual cross-country environment. Results show that the computation time decreased by 11.3% compared with the basic RRT* method.
引用
收藏
页码：3665 / 3675
页数：11
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