DeepAI
Log In Sign Up

Cell A* for Navigation of Unmanned Aerial Vehicles in Partially-known Environments

09/16/2020
by   Wenjian Hao, et al.
0

Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents an extension to the A* search algorithm and its variants to make the path planning stable with less computational burden while handling long-distance tasks. The implemented algorithm is capable of online searching for a collision-free and smooth path when heading to the defined goal position. This paper deploys the algorithm on the autonomous drone platform and implements it on a remote control car for algorithm efficiency validation.

READ FULL TEXT

page 6

page 7

page 8

page 9

page 10

06/25/2020

Mobile Robot Path Planning in Dynamic Environments: A Survey

The environment that the robot operating in is becoming more and more co...
11/06/2019

Rapid Uncertainty Propagation and Chance-Constrained Path Planning for Small Unmanned Aerial Vehicles

With the number of small Unmanned Aircraft Systems (sUAS) in the nationa...
11/14/2020

Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks

Path planning for robotic coverage is the task of determining a collisio...
11/22/2019

A GNC Architecture for Planetary Rovers with Autonomous Navigation Capabilities

This paper proposes a Guidance, Navigation, and Control (GNC) architectu...
05/09/2017

Solving a Path Planning Problem in a Partially Known Environment using a Swarm Algorithm

This paper proposes a path planning strategy for an Autonomous Ground Ve...
11/01/2020

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

Path planning and collision avoidance are challenging in complex and hig...
11/29/2022

A Search and Detection Autonomous Drone System: from Design to Implementation

Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown...