JAIST Repository >
b. 情報科学研究科・情報科学系 >
b11. 会議発表論文・発表資料等 >
b11-1. 会議発表論文・発表資料 >

このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10119/11615

タイトル: Exploration Priority Based Heuristic Approach to UAV Path Planning
著者: Redwan Newaz, Abdullah Al
Pratama, Ferdian Adi
Chong, Nak Young
キーワード: Unmanned Aerial Vehicle
On-line path planning
heuristic aproach
computational complexity
発行日: 2013-08-26
出版者: Institute of Electrical and Electronics Engineers (IEEE)
誌名: 2013 IEEE RO-MAN: The 22nd IEEE International Symposium on Robot and Human Interactive Communication
開始ページ: 521
終了ページ: 526
DOI: 10.1109/ROMAN.2013.6628557
抄録: 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
資料タイプ: author
出現コレクション:b11-1. 会議発表論文・発表資料 (Conference Papers)


ファイル 記述 サイズ形式
19476.pdf451KbAdobe PDF見る/開く



お問い合わせ先 : 北陸先端科学技術大学院大学 研究推進課図書館情報係