Multi-UAV path planning in obstacle rich environments using Rapidly-exploring Random Trees

Kothari, Mangal, Postlethwaite, Ian and Gu, Da-Wei (2009) Multi-UAV path planning in obstacle rich environments using Rapidly-exploring Random Trees. In: Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference. IEEE, Piscataway, NJ, pp. 3069-3074. ISBN 978-1424438716

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Official URL: http://dx.doi.org/10.1109/CDC.2009.5400108

Abstract

This paper presents path planning algorithms using Rapidly-exploring Random Trees (RRTs) to generate paths for multiple unmanned air vehicles (UAVs) in real time, from given starting locations to goal locations in the presence of static, pop-up and dynamic obstacles. Generating non-conflicting paths in obstacle rich environments for a group of UAVs within a given short time window is a challenging task. The difficulty further increases because the turn radius constraints of the UAVs have to be comparable with the corridors where they intend to fly. Hence we first generate a path quickly using RRT by taking the kinematic constraints of the UAVs into account. Then in order to generate a low cost path we develop an anytime algorithm that yields paths whose quality improves as flight proceeds. When the UAV detects a dynamic obstacle, the path planner avoids it based on a set of criteria. In order to track generated paths, a guidance law based on pursuit and line-of-sight is developed. Simulation studies are carried out to show the performance of the proposed algorithm

Item Type: Book Section
Additional Information: Conference held from 15-18 December 2009 in Shanghai, China.
Uncontrolled Keywords: path planning,pop-up obstacle,rapidly-exploring random trees,static obstacle
Subjects: H600 Electronic and Electrical Engineering
Department: Faculties > Engineering and Environment > Mathematics, Physics and Electrical Engineering
Depositing User: Sarah Howells
Date Deposited: 17 Oct 2012 14:34
Last Modified: 10 Nov 2016 12:39
URI: http://nrl.northumbria.ac.uk/id/eprint/9741

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