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Title

A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments

AuthorsSánchez-López, José Luis; Wang, Min; Olivares-Mendez, Miguel A.; Molina, Martín; Voos, Holger
KeywordsPath planning
Obstacle avoidance
Dynamic environments
Aerial robotics
Issue Date15-Feb-2019
PublisherKluwer Academic Publishers
CitationJournal of Intelligent & Robotic Systems 93: 33–53 (2019)
AbstractDeliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for multirotor aerial robots to obtain a feasible, optimal and collision-free path in complex dynamic environments. High-level geometric primitives are employed to compactly represent the situation, which includes self-situation of the robot and situation of the obstacles in the environment. A probabilistic graph is utilized to sample the admissible space without taking into account the existing obstacles. Whenever a planning query is received, the generated probabilistic graph is then explored by an A⋆ discrete search algorithm with an artificial field map as cost function in order to obtain a raw optimal collision-free path, which is subsequently shortened. Realistic simulations in V-REP simulator have been created to validate the proposed path planning solution, integrating it into a fully autonomous multirotor aerial robotic system.
Publisher version (URL)https://dx.doi.org/10.1007/s10846-018-0809-5
URIhttp://hdl.handle.net/10261/216181
DOIhttp://dx.doi.org/10.1007/s10846-018-0809-5
ISSN0921-0296
E-ISSN1573-0409
Appears in Collections:(CAR) Artículos
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