Kim, Hyowon (Pusan National University), Jeong, Jinseok (Pusan National University), Kim, Namyool (Pusan National University), Kang, Beomsoo (Pusan National University)

A Study on 3D Optimal Path Planning for Quadcopter UAV Based on D* Lite

Scheduled for presentation during the Regular Session "Path Planning IV" (ThB1), Thursday, June 13, 2019, 13:30−13:50, Heritage B

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

Since unmanned aerial vehicle (UAV) for industries are operated in complex low altitude environments, planning feasible paths is a necessary feature to achieve mission goals. D* Lite is applicable for industrial complex that uncertainties exist. This paper focuses on 3D path planning for quadcopter UAV based on D* Lite. Simulation results show that the algorithm can be applied in cluttered static and dynamic environments including unknown obstacles. In addition, when some waypoints exist, the proposed algorithm is able to optimize the global path by determining visit order. Therefore, this study is expected to contribute to increase the application of UAVs in industrial fields.