Collision-free path planning of Unmanned Aerial robots based on A algorithm

Trajectory planning of robots is not only an important research field of robotics, but also an challenging combination of artificial intelligence and robotics. Trajectory planning is a key technology of Unmanned Aerial Vehicle (UAV). It is also a prerequisite for autonomous navigation of UAV. Under...

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Bibliographic Details
Published inProceeding of the 11th World Congress on Intelligent Control and Automation pp. 5635 - 5640
Main Authors Xiangrong Xu, Hao Xu, Xiaosheng Zhu, Yan Li, Liming Jia, Shuang Li
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2014
Subjects
A algorithm
Collision avoidance
Educational institutions
Planning
Robots
the simulation based on Visual C++
Trajectory
UAV trajectory planning
Visualization
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Summary:Trajectory planning of robots is not only an important research field of robotics, but also an challenging combination of artificial intelligence and robotics. Trajectory planning is a key technology of Unmanned Aerial Vehicle (UAV). It is also a prerequisite for autonomous navigation of UAV. Under the static environment distributing of obstacles, seeking a shortest path from the starting point to the target point for global path planning has important scientific significance. This paper presents a method for collision-free trajectory planning and design of UAV. Using grids to process the trajectory environment of UAV and then find the shortest path from the initial point to the target point based on rasterization environment using A* algorithm. The simulation of trajectory planning is implemented under the Microsoft Visual C++ 6.0 development environment. From the simulation of trajectory planning, we can clearly prove that UAV can seek a shortest path from the initial point to the target point based on A* algorithm.
DOI:10.1109/WCICA.2014.7053680