RRT* GL based optimal path planning for real-time navigation of UAVs

Abstract:

In this paper, we propose a path planning system for autonomous navigation of unmanned aerial vehicle based on a Rapidly-exploring Random Trees (RRT) combination of RRT* Goal and Limit. The system includes a point cloud obtained from the vehicle workspace with a RGB-D sensor, an identification module for interest regions and obstacles of the environment, and a collision-free path planner based on RRT for a safe and optimal navigation of vehicles in 3D spaces.

Año de publicación:

2017

Keywords:

• PATH PLANNING
• Computational geometry
• 3D modeling
• mobile robotics
• Point cloud registration
• RRT
• RGB-D segmentation

Fuente:

google

scopus