RRT* GL based path planning for virtual aerial navigation

Abstract:

In this paper, we describe a path planning system for virtual navigation based on a RRT combination of RRT* Goal and Limit. The propose system includes a point cloud obtained from the virtual 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 Rapidly-exploring Random Trees (RRT) for a safe and optimal virtual navigation of UAVs in 3D spaces.

Año de publicación:

2017

Keywords:

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

Fuente:

scopus

google