Sampling based path planning and vector fields for curve tracking by UAVs

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dc.creatorAlexander Jahn
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2024-10-09T17:22:26Z
dc.date.accessioned2025-09-09T00:08:55Z
dc.date.available2024-10-09T17:22:26Z
dc.date.issued2016
dc.identifier.doi10.1109/LARS-SBR.2016.44
dc.identifier.issn2835-9003
dc.identifier.urihttps://hdl.handle.net/1843/77337
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofLatin-American Robotics Symposium and Brazilian Robotics Symposium (LARS/SBR)
dc.rightsAcesso Restrito
dc.subjectCalculo vetorial
dc.subject.otherPath planning algorithms
dc.subject.otherUAV - Unmanned Aerial Vehicle
dc.subject.otherPath planning techniques
dc.subject.otherVector fields
dc.titleSampling based path planning and vector fields for curve tracking by UAVs
dc.typeArtigo de evento
local.citation.epage228
local.citation.issue2016 XIII Latin-American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)
local.citation.spage223
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.computer.org/csdl/proceedings-article/sbr-lars-r/2016/07783530/12OmNxETabf

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