EB-RRT* based Navigation Algorithm for UAV
- 10.2991/ifeesm-17.2018.241How to use a DOI?
- RRT; UAV; navigation algorithm; convergence speed
With the wider application of unmanned aerial vehicle (UAV), automatic navigation capacity plays an important role. Navigation for UAV is the algorithm that automatically find out the obstacle-free, smoothing path from start position to target position. Current most navigation algorithms for UAV still have shortcomings including low convergence speed, long traversal time and smoothing challenges. EB-RRT* algorithm is proposed in this paper who has three outstanding strategies for UAV. Self-avoidance is adopted to improve convergence speed and less memory cost. Grid partitioning is applied to shorten the time of finding the nearby vertices. Smoothing turning point is introduced to improve the convergence rate of the algorithm and the smoothness of the final path. Finally, abundant simulations are carried out to testify the high performances of EB-RRT* compared with MB-RRT* and BRRT*.
- © 2018, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Hongliang Dai AU - Qinglin Liu PY - 2018/02 DA - 2018/02 TI - EB-RRT* based Navigation Algorithm for UAV BT - Proceedings of the 2017 3rd International Forum on Energy, Environment Science and Materials (IFEESM 2017) PB - Atlantis Press SP - 1313 EP - 1329 SN - 2352-5401 UR - https://doi.org/10.2991/ifeesm-17.2018.241 DO - 10.2991/ifeesm-17.2018.241 ID - Dai2018/02 ER -