Sampling based path planning and vector fields for curve tracking by UAVs
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Universidade Federal de Minas Gerais
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This paper describes the combination of artificial, circulating vector fields based on implicit curves as proposed in Gonçalves et al. (2010) with a sampling based navigation technique in the same spirit of VFRRT (vector field rapidly exploring random tree) from Ko et al. (2014). The resulting two stage strategy outputs feasible paths considering a Dubins airplane model from Owen et al. (2015), that avoids known static obstacles in the three dimensional space. In simulations the proposed algorithm outperforms a pure sampling based approach.
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Path planning algorithms, UAV - Unmanned Aerial Vehicle, Path planning techniques, Vector fields
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https://www.computer.org/csdl/proceedings-article/sbr-lars-r/2016/07783530/12OmNxETabf