3D motion planning for UAVs in GPS-denied unknown forest environment

Fang Liao, Shupeng Lai, Yuchao Hu, Jinqiang Cui, Jian Liang Wang, Rodney Teo, Feng Lin

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

20 Citations (Scopus)

Abstract

In this paper, a decomposition hierarchic on-line motion planning approach consisting of path planning and trajectory generation is proposed for VTOL UAVs to fly in a GPS-denied unknown obstacle-rich environment such as forest and urban canyon. A closed-loop 3D path planning based on A∗ search algorithm is used to generate collision-free path and a 3D on-line trajectory generation based on maneuver automaton methods is used to generate a collision-free reference trajectory. The simulation and experiment on a VTOL UAV demonstrate the effectiveness of the proposed motion planning approach.

Original languageEnglish
Title of host publication2016 IEEE Intelligent Vehicles Symposium, IV 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages246-251
Number of pages6
ISBN (Electronic)9781509018215
DOIs
Publication statusPublished - 5 Aug 2016
Externally publishedYes
Event2016 IEEE Intelligent Vehicles Symposium, IV 2016 - Gotenburg, Sweden
Duration: 19 Jun 201622 Jun 2016

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings
Volume2016-August

Conference

Conference2016 IEEE Intelligent Vehicles Symposium, IV 2016
Country/TerritorySweden
CityGotenburg
Period19/06/1622/06/16

ASJC Scopus subject areas

  • Computer Science Applications
  • Automotive Engineering
  • Modelling and Simulation

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