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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11615

Title: Exploration Priority Based Heuristic Approach to UAV Path Planning
Authors: Redwan Newaz, Abdullah Al
Pratama, Ferdian Adi
Chong, Nak Young
Keywords: Unmanned Aerial Vehicle
On-line path planning
heuristic aproach
computational complexity
Issue Date: 2013-08-26
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2013 IEEE RO-MAN: The 22nd IEEE International Symposium on Robot and Human Interactive Communication
Start page: 521
End page: 526
DOI: 10.1109/ROMAN.2013.6628557
Abstract: This paper presents a 3D online path planning algorithm for Unmanned Aerial Vehicles (UAVs) equipped with limited range sensors and computational resources in unknown cluttered environments. Even though quadrotor UAVs are considered to be a promising technology for surveillance purposes in indoor environments and for close observation in outdoor urban areas, it is very difficult to achieve autonomous aerial navigation toward a goal avoiding unpredicted collisions. Furthermore, greater attention and effort should be aimed at improving the computational efficiency and performance of path planning algorithms. The proposed heuristic algorithm offers on-the-fly path findings with a lesser computational complexity. We demonstrate the efficiency of our algorithm in a real world scenario implemented using the V-REP simulator.
Rights: This is the author's version of the work. Copyright (C) 2013 IEEE. 2013 IEEE RO-MAN: The 22nd IEEE International Symposium on Robot and Human Interactive Communication, 2013, 521-526. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/11615
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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