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International Journal of Engineering، جلد ۳۴، شماره ۱۰، صفحات ۲۳۶۰-۲۳۷۰
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عنوان انگلیسی Any-time randomized kinodynamic path planning algorithm in dynamic environments with application to quadrotor
چکیده انگلیسی مقاله Kinodynamic path planning is an open challenge in unmanned autonomous vehicles and is considered an NP-Hard problem. Planning a feasible path for vertical take-off and landing quadrotor (VTOL-Q) from an initial state to a target state in 3D space by considering the environmental constraints such as moving obstacles avoidance and non-holonomic constraints such as hard bounds of VTOL-Q is the key motivation of this study. To this end, let us propose the any-time randomized kinodynamic (ATRK) path-planning algorithm applicable in the VTOL-Q. ATRK path-planning algorithm is based on the Rapidly-exploring random trees (RRT) and consists of three main components: high-level, mid-level, and low-level controller. The high-level controller utilizes a randomized sampling-based approach to generate offspring vertices for rapid exploring and expanding in the configuration space. The mid-level controller uses the any-time method to avoid collision with moving obstacles. The low-level controller with a six-DOF dynamic model accounts for the kinodynamic constraints of VTOL-Q in the randomized offspring vertices to plan a feasible path. Simulation results on three different test-scenario demonstrate the kinodynamic constraints of the VTOL-Q are integrated into the randomized offspring vertices. Also, in presence of moving obstacles, the ATRK re-plans the path in the local area as through an any-time approach.
کلیدواژه‌های انگلیسی مقاله Kinodynamic path planning,Rapidly-exploring Random Trees,Quadrotor,Collision Avoidance,Dynamic Obstacles
نویسندگان مقاله E. Taheri |
Electrical Engineering Department, Malek Ashtar University of Technology, Tehran, Iran

نشانی اینترنتی https://www.ije.ir/article_136801_cd076228a90014fa04cda30c9ee8dd49.pdf
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