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Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV
Yang L(杨亮); Qi JT(齐俊桐); Jiang ZY(江紫亚); Song DL(宋大雷); Han JD(韩建达); Xiao, Jizhong
作者部门机器人学研究室
会议名称11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
会议日期August 3-6, 2014
会议地点Tianjin, China
会议录名称2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
出版者IEEE Computer Society
出版地Washington, DC
2014
页码1182-1187
收录类别EI ; CPCI(ISTP)
EI收录号20143818167334
WOS记录号WOS:000366848100205
产权排序1
ISBN号978-1-4799-3978-7
关键词Algorithms Forestry Motion Planning Trees (Mathematics)
摘要This paper proposes a path planning algorithm called guiding attraction based random tree (GART), which is built upon the famous sampling-based algorithm RRT to generate a near optimal path in real time for unmanned aerial vehicle (UAV) navigation under uncertainty. The algorithm takes UAV heading dynamic constraint and 'obstacle safe attraction' into consideration, and uses a descriptive set method to describe the uncertainty caused by control and sensing error. The analysis shows that the computational complexity of GART is within a constant factor of RRT and RRT. A number of detailed comparisons of the proposed algorithm with RRT in 2D are given which verify the efficiency of our algorithm. Moreover, 3D simulation results demonstrate that GART find the near optimal path only after 2400 iterations, which means that GART outperformed RRT by 833%. © 2014 IEEE.
语种英语
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被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15153
专题机器人学研究室
通讯作者Yang L(杨亮)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Department of Electrical Engineering, City College, City University of New York, Convent Ave and 140th Street, New York NY, United States
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Yang L,Qi JT,Jiang ZY,et al. Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV[C]. Washington, DC:IEEE Computer Society,2014:1182-1187.
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