Skeleton-based fast path planning for UAV

Xin Liu; Chengping Zhou; Mingyue Ding; Chao Cai

doi:10.1117/12.832544

30 October 2009 Skeleton-based fast path planning for UAV

Xin Liu, Chengping Zhou, Mingyue Ding, Chao Cai

Proceedings Volume 7498, MIPPR 2009: Remote Sensing and GIS Data Processing and Other Applications; 74984C (2009) https://doi.org/10.1117/12.832544
Event: Sixth International Symposium on Multispectral Image Processing and Pattern Recognition, 2009, Yichang, China

Abstract

A new path planning method for UAV in static workspace is presented. The method can find a nearly optimal path in short time which satisfies the UAV kinematic constraints. The method makes use of the skeletons to construct the graph of the planning space considering the configuration of the obstacles and utilizes the graph to find a shortest collision-free path, and a novel technique is utilized to convert the free path into a feasible path. The method can be applied to different applications and easy to be implemented. Experimental results showed that the path planning can be done in a fraction of second on a contemporary workstation (2-3 seconds) under the condition of satisfying the kinematic constraints.

Citation Download Citation

Xin Liu, Chengping Zhou, Mingyue Ding, and Chao Cai "Skeleton-based fast path planning for UAV", Proc. SPIE 7498, MIPPR 2009: Remote Sensing and GIS Data Processing and Other Applications, 74984C (30 October 2009); https://doi.org/10.1117/12.832544

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