Abstract
The known methods of planning the routes of movement of robotic platforms based on cellular decomposition of the area of movement in a three-dimensional formulation are severely limited in speed. Therefore, the construction of high-speed planning algorithms in a three-dimensional mapped environment is an urgent task. This article proposes a method for planning the movement of robotic platforms in this environment, combining the use of the well-known Dijkstra algorithm for constructing a two-dimensional projection curve with subsequent projection reconstruction and multi-stage correction of the target spatial piecewise polyline curve. The restoration of the original spatial curve by its two-dimensional projection onto the horizontal plane is performed on the basis of a given discrete elevation map of the motion area, and the specified adjustment is made taking into account the requirements, firstly, the minimality of the total length of the final piecewise polyline, and, secondly, taking into account the specified known kinematic limitations of the apparatus. The algorithm for the synthesis of a spatial curve is detailed for the common case when obstacles are represented in the form of rectangular cylinders with polygonal generators. The effectiveness of the developed global scheduler algorithm is confirmed by the results of numerical modeling.
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The study was supported by the Russian Science Foundation Grant No. 22-29-00370, https://rscf.ru/project/22-29-00370/.
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Kostyukov, V., Evdokimov, I., Gissov, V. (2023). Construction of a Three-Dimensional UAV Movement Planner When the Latter Moves in Conditions of Difficult Terrain. In: Ronzhin, A., Sadigov, A., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2023. Lecture Notes in Computer Science(), vol 14214. Springer, Cham. https://doi.org/10.1007/978-3-031-43111-1_29
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