3D PATH PLANNING FOR UNMANNED AERIAL VEHICLES USING VISIBILITY LINE BASED METHOD

Rosli Omar, Dawei Gu

2010

Abstract

In path planning, visibility graph (or visibility line (VL)) method is capable of producing shortest path from a starting point to a target point in an environment with polygonal obstacles. However, the run time increases exponentially as the number of obstacles grows, causing this method ineffective for real-time path planning. A 2D path planning framework based on VL has recently been introduced to find a 2D path in an obstaclerich environment with low run time. In this paper we propose 3D path planning algorithms based on the 2D framework. Several steps are used in the algorithms to find a 3D path. First, a local plane is generated from a local starting point to a target point. The plane is then rotated at several pre-defined angles. At each rotation, a shortest path is calculated using 2D algorithms. After rotations at all angles have been done, the shortest one is selected. Simulation results show that the proposed 3D algorithms are capable in finding paths in 3D environments and computationally efficient, thus suitable for real time application.

References

  1. Ambrosino, G., Ariola, M., Ciniglio, U., Corraro, F., Pironti, A., and Virgilio, M. (2006). Algorithms for 3d uav path generation and tracking. In Proceedings of the 45th IEEE Conference on Decision and Control, pages 5275-5280. IEEE.
  2. Barraquand, J., Langlois, B., and Latombe, J.-C. (1992). Numerical potential field techniques for robot path planning. In Proceedings of the IEEE Transactions on Systems, Man and Cybernetics, pages 224-240. IEEE.
  3. Bortoff, S. (2000). Path planning for uavs. In Proceedings of the American Control Conference Chicago Illinois, pages 364-368. ACC.
  4. Bygi, M. and Ghodsi, M. (2006). 3d visibility graph. In 12th CSI Computer Conference (CSICC 2006). Computer Society of Iran.
  5. Chen, D., Szczerba, R., and Uhran, J. (1995). Planning conditional shortest paths through an unknown environment: A framed-quadtree approach. In Proceedings of the International Conference on Intelligent Robots and Systems, pages 33-38. IEEE.
  6. Coleman, D. and Wunderlich, J. (2008). O3: An optimal and opportunistic path planner (with obstacle avoidance) using voronoi polygons. In International Workshop on Advanced Motion Control, pages 371-376. IEEE.
  7. Frampton, R. (2008). Uav autonomy. The Journal for Defence Engineering & Science, 1(Summer 2008):28- 31.
  8. Hasircioglu, I., Topcuoglu, H., and Ermis, M. (2008). 3-d path planning for the navigation of unmanned aerial vehicles by using evolutionary algorithms. In Proceedings of the 10th Annual Conference on Genetic and Evolutionary Computation, pages 1499-1506. ACM.
  9. Huang, H. and Chung, S. (2004). Dynamic visibility graph for path planning. In Proceeding of International Conference on Intelligent Robots and Systems. IEEE.
  10. Jiang, K., Seneviratne, L., and Earles, S. (1993). Finding the 3d shortest path with visibility graph and minimum potential energy. In Proceeding of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 679-684. IEEE.
  11. LingelBach, F. (2004). Path planning using probabilistic cell decomposition. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 467-472. IEEE.
  12. Lozano-Perez, T. and Wesley, M. (1979). An algorithm for planning collision-free paths among polyhedral obstacles. In Contmum ACM, pages 560-570. ACM.
  13. Mittal, S. and Deb, K. (2007). Three-dimensional offline path planning for uavs using multiobjective evolutionary algorithms. In Proceedings of the IEEE Congress on Evolutionary Computation, pages 3195- 3202. IEEE.
  14. Nilsson, N. (1984). Shakey the robot. Technical Report JReport 323, 333 Ravenswood Avenue, Menlo Park, CA 94025-3493.
  15. Omar, R. and Gu, D.-W. (2009). Visibility line based methods for uav path planning. In ICROS-SICE International Joint Conference. ICROS-SICE.
  16. Tian, Y., Yan, L., Park, G., S.Yang, Kim, Y., Lee, S., and Lee, C. (2007). Application of rrt-based local path planning algorithm in unknown environment. In Proceeding of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, pages 456-460. IEEE.
Download


Paper Citation


in Harvard Style

Omar R. and Gu D. (2010). 3D PATH PLANNING FOR UNMANNED AERIAL VEHICLES USING VISIBILITY LINE BASED METHOD . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-00-3, pages 80-85. DOI: 10.5220/0002881100800085


in Bibtex Style

@conference{icinco10,
author={Rosli Omar and Dawei Gu},
title={3D PATH PLANNING FOR UNMANNED AERIAL VEHICLES USING VISIBILITY LINE BASED METHOD},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2010},
pages={80-85},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002881100800085},
isbn={978-989-8425-00-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - 3D PATH PLANNING FOR UNMANNED AERIAL VEHICLES USING VISIBILITY LINE BASED METHOD
SN - 978-989-8425-00-3
AU - Omar R.
AU - Gu D.
PY - 2010
SP - 80
EP - 85
DO - 10.5220/0002881100800085