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Proceedings Paper

Fast on-ship route planning using improved sparse A-star algorithm for UAVs
Author(s): Xin Yang; Mingyue Ding; Chengping Zhou; Chao Cai; Qi Yu; Shuai Shao
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Paper Abstract

This paper presented improved Sparse A-Star Search (SAS) algorithm to pursue a fast route planner for Unmanned Aerial Vehicles (UAVs) on-ship applications. Our approach can quickly produce 3-D trajectories composed by a set of successive navigation points from certain known initial locations to predetermined target locations. The result routes are not only ensuring collision avoidance with the environmental obstacles, but also satisfying specific routes constraints and objectives. The experiment results demonstrated the feasibility of the method, which makes our route planner be more useful in real systems.

Paper Details

Date Published: 30 October 2009
PDF: 8 pages
Proc. SPIE 7497, MIPPR 2009: Medical Imaging, Parallel Processing of Images, and Optimization Techniques, 749705 (30 October 2009); doi: 10.1117/12.833330
Show Author Affiliations
Xin Yang, Huazhong Univ. of Science and Technology (China)
Mingyue Ding, Huazhong Univ. of Science and Technology (China)
Chengping Zhou, Huazhong Univ. of Science and Technology (China)
Chao Cai, Huazhong Univ. of Science and Technology (China)
Qi Yu, Huazhong Univ. of Science and Technology (China)
Shuai Shao, Huazhong Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 7497:
MIPPR 2009: Medical Imaging, Parallel Processing of Images, and Optimization Techniques
Faxiong Zhang; Faxiong Zhang, Editor(s)

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