Approximate 3D Euclidean Shortest Paths for Unmanned Aircraft in Urban Environments
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- 作者：Guillermo Frontera ; David J. Martín…
- 关键词：Unmanned aircraft ; Trajectory planning ; Pathfinding ; Euclidean shortest path ; Visibility graph
- 刊名：Journal of Intelligent & Robotic Systems
- 出版年：2017
- 出版时间：February 2017
- 年：2017
- 卷：85
- 期：2
- 页码：353-368
- 全文大小：
- 刊物类别：Engineering
- 刊物主题：Control, Robotics, Mechatronics; Electrical Engineering; Artificial Intelligence (incl. Robotics); Mechanical Engineering;
- 出版者：Springer Netherlands
- ISSN：1573-0409
- 卷排序：85
文摘
This paper introduces a fast algorithm that finds collision-free 3D paths for unmanned aircraft in urban environments. These environments are represented by a three-dimensional scenario in which obstacles are vertical polyhedra. This algorithm uses a method to reduce the number of obstacles taken into account in the path finding process. This method is combined with an algorithm that computes approximate Euclidean shortest paths, which has been adapted to suit this kind of scenarios. Instead of focusing on reducing the asymptotic worst-case running time of the algorithm in unrealistic cases, this approach aims to reduce the computation time in a more practical situation. Experimental cases are provided comparing our approach to existing methods in the literature, showing it is very competitive both in terms of speed and solution quality.