Sampling Based Path Planning and Vector Fields for Curve Tracking by UAVs

被引：1

作者：

Jahn, Alexander ^{[1
]}

Pimenta, Luciano C. A. ^{[2
]}

机构：

[1] Univ Fed Minas Gerais, Grad Program Elect Engn, BR-31270901 Belo Horizonte, MG, Brazil

[2] Univ Fed Minas Gerais, Sch Engn, BR-31270901 Belo Horizonte, MG, Brazil

来源：

PROCEEDINGS OF 13TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 4TH BRAZILIAN SYMPOSIUM ON ROBOTICS - LARS/SBR 2016 | 2016年

关键词：

ROBOT NAVIGATION;

D O I：

10.1109/LARS-SBR.2016.44

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes the combination of artificial, circulating vector fields based on implicit curves as proposed in [1] with a sampling based navigation technique in the same spirit of VFRRT (vector field rapidly exploring random tree) in [2]. The resulting two stage strategy outputs feasible paths considering a Dubins airplane model [3] that avoids known static obstacles in the three dimensional space. In simulations the proposed algorithm outperforms a pure sampling based approach.

引用

页码：223 / 228

页数：6

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