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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
Department机器人学研究室
Conference Name11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Conference DateAugust 3-6, 2014
Conference PlaceTianjin, China
Source Publication2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2014
Pages1182-1187
Indexed ByEI ; CPCI(ISTP)
EI Accession number20143818167334
WOS IDWOS:000366848100205
Contribution Rank1
ISBN978-1-4799-3978-7
KeywordAlgorithms Forestry Motion Planning Trees (Mathematics)
AbstractThis 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.
Language英语
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15153
Collection机器人学研究室
Corresponding AuthorYang L(杨亮)
Affiliation1.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
Recommended Citation
GB/T 7714
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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