Path Planning of Nonholonomic Flying Robots Using a New Virtual Obstacle Method

被引：0

作者：

Mohamadnejad, Nazanin ^{[1
]}

Masehian, Ellips ^{[1
]}

机构：

[1] Tarbiat Modares Univ, Fac Engn, Tehran 14115143, Iran

来源：

2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2015年

关键词：

Flying robot; UAV; 3D path planning; Nonholonomic constraints; Fast Marching Method; Virtual obstacle; Torus;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a method for planning near optimal collision-free path between two pre-specified points with given orientations for nonholonomic flying robots or UAVs navigating in a 3D space amid obstacles. The proposed method is based on the Fast Marching Method (FMM), which uses a first order numerical approximation of the Eikonal equation. The FMM is combined with average filter, B-spline functions and a new tool called Virtual Obstacle to guarantee smoothness of the produced path. The Virtual Obstacle is in the form of a torus to adjust the path with orientation of the flying robot at the start and goal points. Experimental results showed that the proposed method can find near-optimal paths with maximum curvatures less than the robot's minimum flying radius.

引用

页码：612 / 617

页数：6

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