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Proceedings Paper

Skeleton-based fast path planning for UAV
Author(s): Xin Liu; Chengping Zhou; Mingyue Ding; Chao Cai
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Paper 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.

Paper Details

Date Published: 30 October 2009
PDF: 8 pages
Proc. SPIE 7498, MIPPR 2009: Remote Sensing and GIS Data Processing and Other Applications, 74984C (30 October 2009); doi: 10.1117/12.832544
Show Author Affiliations
Xin Liu, Huazhong Univ. of Science and Technology (China)
Chengping Zhou, Huazhong Univ. of Science and Technology (China)
Mingyue Ding, Huazhong Univ. of Science and Technology (China)
Chao Cai, Huazhong Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 7498:
MIPPR 2009: Remote Sensing and GIS Data Processing and Other Applications

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