Fast path planning algorithms for Unmanned Aerial Vehicles

Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this paper, we consider the problem of planning a collision-free path for a UAV in a polygonal domain from a source point to a target point. Based on the characteristics of UAVs, we assume two basic limitations on the generated paths: an upper bound on the turning angle at each turning point (maximum turning angle) and a lower bound on the distance between two consecutive turns (minimum route leg length). We describe an algorithm that runs in O(n^4) time and finds a feasible path in accordance with the above limitations, where n is the number of obstacle vertices. As shown by experiments, the output of the algorithm is much close to the shortest path with this requirements. We further demonstrate how to decompose the algorithm into two phases, preprocessing time and query time. In this way, given a fixed start point and a set of obstacles, we can preprocess a data-structure of size O(n^4) in O(n^4) time, such that for any query target point we can find a path with the given requirements in O(n^2) time. Finally, we modify the algorithm to find a feasible (almost shortest) path that reach the target point within a given range of directions.


Connectivity-Aware UAV Path Planning with Aerial Coverage Maps

Cellular networks are promising to support effective wireless communicat...

AutoDrone: Shortest Optimized Obstacle-Free Path Planning for Autonomous Drones

With technological advancement, drone has emerged as unmanned aerial veh...

Towards Fully Environment-Aware UAVs: Real-Time Path Planning with Online 3D Wind Field Prediction in Complex Terrain

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are large...

Autonomous Tracking of Intermittent RF Source Using a UAV Swarm

Localization of a radio frequency (RF) transmitter with intermittent tra...

Online Ride-Hitching in UAV Travelling

The unmanned aerial vehicle (UAV) has emerged as a promising solution to...

A Review on Viewpoints and Path-planning for UAV-based 3D Reconstruction

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data ...

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...

Please sign up or login with your details

Forgot password? Click here to reset