Path Planning of UAV Based on Voronoi Diagram and DPSO
نویسندگان
چکیده
منابع مشابه
Role of Voronoi Diagram Approach in Path Planning
Graph theoretic approaches plays important role in the path planning problems. The usefulness of Graph Theoretic approaches mainly the voronoi diagram is provided for the path planning in static and dynamic environment in this paper. Voronoi Diagram plays important role in computing the optimal path between the source & destination in static as well as dynamic environment. So, through the liter...
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Kinodynamic motion planning of an autonomous robot in an unknown or partially known indoor or outdoor environment is a challenging task, especially when the generated path must maintain the largest distance from surrounding obstacles and the robot’s kinodynamic properties, its localisation, and uncertainty of the environment are also considered. A new motion planning technique, which is built o...
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We consider a variation of Voronoi diagram, or time-based Voronoi diagram, for a set S of points in the presence of transportation lines or highways in the plane. A shortest time-distance path from a query point to any given point in S is a path that takes the least travelling time. The travelling speeds and hence travelling times of the subpaths along the highways and in the plane are differen...
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The objective is an unmanned vehicle is to complete a given mission, i.e., to arrive at a given destination safely within a prespecified time. As a result, the basic pathplanning problem discussed in this paper is the problem of finding a short (fuel-optimal) and collision-free path between the two states in an environment with static or dynamic obstacles [13]. For a static environment with per...
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ژورنال
عنوان ژورنال: Procedia Engineering
سال: 2012
ISSN: 1877-7058
DOI: 10.1016/j.proeng.2012.01.643