Tian, Haowen (National University of Singapore), Huang, Sunan (National Universtiy of Singapore), Wang, Pengfei (National University of Singapore), Xiang, Cheng (National University of Singapore), Cao, Jiawei (National University of Singapore), Teo, Rodney (National University of Singapore)

Improved Path Planning Algorithm of an Informed RRT Algorithm in 3D Space

Scheduled for presentation during the Regular Session "Simulation II" (WeB4), Wednesday, June 7, 2023, 16:20−16:40, Room 465

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

The main purpose of drone flight is to find an optimal path without colliding with obstacles. The key point is to design a search algorithm. Path planning for searching a 2-dimensional (2D) map has been studied extensively and reached a mature stage. For a higher-dimensional configuration space, it is quite challenging. In this paper, the sampling based path planning method is proposed. It uses rapidlyexploring random trees (RRT) concept. An improved guidance is proposed for reducing the search space in the present algorithm in a 3D clutter environment. Simulation is given to show the effectiveness of the proposed method.