Rey, Rafael (Universidad Pablo de Olavide), Cobano, Jose Antonio (University Pablo de Olavide), Merino, Luis (Universidad Pablo de Olavide), Caballero, Fernando (University of Seville)

Generalized Lazy-Theta* for 3D Path Planning Considering Non-Uniform Costs

Scheduled for presentation during the Regular Session "Path Planning II" (ThA4), Thursday, June 23, 2022, 11:30−11:50, Divona-2

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

This paper presents a 3D safe path planning solution for UAS in cluttered environments. 3D any-angle path planning algorithms are used by including non-uniform costs related to distance to the closest obstacles. Both Theta* and Lazy Theta* algorithms are extended toward non-uniform costs by fostering safety and smoothness. Our generalized algorithms consider the cost of all the nodes along the line of sight between an initial and final node. Tests in a realistic environment are performed to evaluate the generalized Theta* and Lazy Theta* algorithms with respect to A* algorithm considering the non-uniform costs. The results show advantages of the generalized Lazy Theta* algorithm related to safety, length and smoothness of path.