| Autor: |
Jose Antonio Cobano, Fernando Caballero, Luis Merino, Rafael Rey |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
2021 International Conference on Unmanned Aircraft Systems (ICUAS). |
| DOI: |
10.1109/icuas51884.2021.9476772 |
| Popis: |
This paper presents a 3D path planning solution for UAS to obtain a safe and smooth path. The safety plays an important role in the missions with UAS surrounding or entering the buildings. The heuristic search algorithms are good candidates to address this problem. The Lazy Theta* algorithm has been modified to foster safety and smoothness maintaining a distance from obstacles of the environment. Modifications to consider a new cost component related to the distance to the obstacles are performed. Tests in a realistic environment are shown to evaluate how the modified algorithm computes safer and smoother paths. Moreover, a comparison with the A* algorithm, the A* algorithm considering the new cost component and the original Lazy Theta* is presented. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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