A rapid method for planning paths in three dimensions for a small aerial robot

被引：10

作者：

Williams, M ^{[1
]}

Jones, DI ^{[1
]}

机构：

[1] Univ Coll N Wales, Sch Informat, Bangor LL57 1UT, Gwynedd, Wales

来源：

ROBOTICA | 2001年 / 19卷 / 02期

关键词：

aerial robot; path planning; three dimensions; distance transform;

D O I：

10.1017/S0263574700002952

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes a path planning method for a small autonomous aerial vehicle to be used for inspecting overhead electricity power lines. A computational algorithm is described which converts a standard three dimensional array representation of one or more obstacles in the vehicle's environment into an octree and a connectivity graph. This achieves a significant reduction in computer memory usage and an increase in execution speed when the graph is searched. Path planning is based on a three-dimensional extension of the distance transform. Test results demonstrate rapid and effective operation of the planner within different workspaces.

引用

页码：125 / 135

页数：11

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