A Study on 3D Optimal Path Planning for Quadcopter UAV Based on D* Lite
- 1 June 2019
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2019 International Conference on Unmanned Aircraft Systems (ICUAS)
Abstract
Since unmanned aerial vehicle (UAV) for industries are operated in complex low altitude environments, planning feasible paths is a necessary feature to achieve mission goals. D* Lite is applicable for industrial complex that uncertainties exist. This paper focuses on 3D path planning for quadcopter UAV based on D* Lite. Simulation results show that the algorithm can be applied in cluttered static and dynamic environments including unknown obstacles. In addition, when some waypoints exist, the proposed algorithm is able to optimize the global path by determining visit order. Therefore, this study is expected to contribute to increase the application of UAVs in industrial fields.Keywords
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