A Rectified RRT with Efficient Obstacles Avoidance Method for UAV in 3D Environment

Our paper presents a static obstacles avoidance and path planning method for Unmanned Aerial Vehicle (UAV) in outdoor three-dimension (3D) environment. We propose a rectified rapidly exploring random tree (RRT*) algorithm where a method is proposed for smoothing and rectifying the final path generat...

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Bibliographic Details
Published in2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) pp. 480 - 485
Main Authors Mechali, Omar, Xu, Limei, Wei, Mingzhu, Benkhaddra, Ilyas, Guo, Fan, Senouci, Abdelkader
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2019
Subjects
Collision avoidance
Matlab
obstacles avoidance
Path planning
Robots
RRT algorithm
Shape
Three-dimensional displays
UAV
Unmanned aerial vehicles
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Summary:Our paper presents a static obstacles avoidance and path planning method for Unmanned Aerial Vehicle (UAV) in outdoor three-dimension (3D) environment. We propose a rectified rapidly exploring random tree (RRT*) algorithm where a method is proposed for smoothing and rectifying the final path generated by RRT* in order to reduce the energy consumption during the flight. We also introduce an obstacle avoidance method which allows an efficient free-path collision generation in a complex 3D operating state space. This method ensures that the environment modeling is very close to the reality which allows a high accuracy obstacle avoidance with a secure distance between the UAV and the obstacles edges. Our algorithm was validated through the experiments including the Hardware-in-the-loop simulation (HIL) and real outdoor flights.
DOI:10.1109/CYBER46603.2019.9066691