This article is the University of Leicester: doctoral thesis (author Rosli bin Omar), a total of 52.
Path planning algorithm based on this paper to avoid UAV can view (VG) method (UAV). Since all nodes (vertices) VG of the environment of use, and thus a high computational cost. In contrast, a two-dimensional path planning algorithm presented herein using the selected vertex relatively few so-called base line (BL), and therefore they have a higher efficiency. By limiting the length BL to further improve the efficiency of the algorithm, thereby reducing the number of vertices. Simulation results show that the proposed two-dimensional path planning algorithm is much faster than the speed of the VG, suitable for real-time path planning application. Although VG vertex can be clearly defined using a two-dimensional environment, it is difficult to determine their three-dimensional environment, because they are infinite on the border along each obstacle. In the three-dimensional path planning algorithm presented herein, a certain rotation angle of the vertex is the intersection of the plane of the edge of the obstacle, so that the plane of rotation of a so-called solution to this problem. In order to ensure computational efficiency three-dimensional path planning algorithm, the proposed two-dimensional path planning algorithm is applied to three-dimensional path planning algorithm. In addition, also we developed a two-dimensional and three-dimensional path planning based on Matlab software package. The package is easy to use and has a user-friendly step by step instructions of.
This thesis concerns the development ofpath planning algorithms for unmanned aerial vehicles (UAVs) to avoid obstaclesin two- (2D) and three-dimensional (3D) urban environments based on thevisibility graph (VG) method. As VG uses all nodes (vertices) in theenvironments, it is computationally expensive. The proposed 2D path planningalgorithms, on the contrary, select a relatively smaller number of verticesusing the so-called base line (BL), thus they are computationally efficient.The computational efficiency of the proposed algorithms is further improved bylimiting the BL’s length, which results in an even smaller number of vertices.Simulation results have proven that the proposed 2D path planning algorithmsare much faster in comparison with the VG and hence are suitable for real timepath planning applications. While vertices can be explicitly defined in 2Denvironments using VG, it is difficult to determine them in 3D as they areinfinite in number at each obstacle’s border edge. This issue is tackled byusing the so-called plane rotation approach in the proposed 3D path planningalgorithms where the vertices are the intersection points between a planerotated by certain angles and obstacles edges. In order to ensure that the 3Dpath planning algorithms are computationally efficient, the proposed 2D pathplanning algorithms are applied into them. In addition, a software packageusing Matlab for 2D and 3D path planning has also been developed. The packageis designed to be easy to use as well as user-friendly with step-by-stepinstructions.
1 Introduction
2 Path Planning
3 viewability line path planning method based on
four-dimensional path planning based on the visibility of the line
5 for route planning software tool pack
6 Conclusions and Future Prospects for
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