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题名: Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV
作者: 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(肖继忠)
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: 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2014
页码: 1182-1187
收录类别: EI
ISBN号: 9781479939787
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15153
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
杨亮; 齐俊桐; 江紫亚; 宋大雷; 韩建达; Xiao, Jizhong.Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV.见:IEEE Computer Society.2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014,Washington, DC,2014,1182-1187
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