UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

UAV Path Planning System Based on 3D Informed RRT* for Dynamic Obstacle Avoidance

Meng, J; Kay, S; Li, A; Pawar, VM; (2018) UAV Path Planning System Based on 3D Informed RRT* for Dynamic Obstacle Avoidance. In: 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). (pp. pp. 1653-1658). IEEE: Kuala Lumpur, Malaysia. Green open access

[thumbnail of Pawar_ROBIO_paper_2018.pdf]
Preview
Text
Pawar_ROBIO_paper_2018.pdf - Accepted Version

Download (454kB) | Preview

Abstract

A path planning system based on the Informed RRT* path planner was developed to enable an unmanned aerial vehicle (UAV) to avoid moving obstacles in a cluttered 3D environment. For congested environments such as a construction site, path planning systems that help a UAV to safely manoeuvre around dynamic objects and potential co-workers operating within the same workspace is needed. Instead of using a general RRT* path planner approach which will generate a sinuous path, we proposed a flexible approach to increase the convergence of our path planner by re-defining the search space based on 2D Informed RRT* path planner. General RRT* has a relatively low convergence speed to optimize its original solution. By using motion tracking cameras, we obtained real-time feedback of the UAVs pose as well as map structuring and obstacle positions. With this setup, the performance of our proposed path planning approach was assessed using a set of diverse scenarios to compare against general RRT* in convergence rate, quality of solution and ability to handle multiple obstacle situation.

Type: Proceedings paper
Title: UAV Path Planning System Based on 3D Informed RRT* for Dynamic Obstacle Avoidance
Event: IEEE International Conference on Robotics and Biomimetics (ROBIO)
Location: Kuala Lumpur, MALAYSIA
Dates: 12 December 2018 - 15 December 2018
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ROBIO.2018.8665162
Publisher version: http://dx.doi.org/ 10.1109/ROBIO.2018.8665162
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Three-dimensional displays, Path planning, Two dimensional displays, Convergence, Ellipsoids, Unmanned aerial vehicles, Complexity theory
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10121867
Downloads since deposit
124Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item