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RRT* GL Based Optimal Path Planning for Real-Time Navigation of UAVs

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Advances in Computational Intelligence (IWANN 2017)

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Abstract

In this paper, we propose a path planning system for autonomous navigation of unmanned aerial vehicle based on a Rapidly-exploring Random Trees (RRT) combination of RRT* Goal and Limit. The system includes a point cloud obtained from the vehicle workspace with a RGB-D sensor, an identification module for interest regions and obstacles of the environment, and a collision-free path planner based on RRT for a safe and optimal navigation of vehicles in 3D spaces.

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Acknowledgement

This work is part of the projects VisualNavDrone 2016-PIC-024 and MultiNavCar 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.

Author information

Authors and Affiliations

  1. Dep. Seguridad y Defensa, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar & Hugo Ruiz

  2. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar & Stephanie Morales

  3. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

  4. PLM Research Center, Purdue University, West Lafayette, IN, USA

    Hugo Ruiz

  5. Universitat de Barcelona, Barcelona, Spain

    Vanessa Abad

Authors
  1. Wilbert G. Aguilar
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  2. Stephanie Morales
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  3. Hugo Ruiz
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  4. Vanessa Abad
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. Universidad de Granada, Granada, Spain

    Ignacio Rojas

  2. University of Malaga, Malaga, Spain

    Gonzalo Joya

  3. Polytechnic University of Catalonia, Vilanova i la Geltrú, Barcelona, Spain

    Andreu Catala

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Aguilar, W.G., Morales, S., Ruiz, H., Abad, V. (2017). RRT* GL Based Optimal Path Planning for Real-Time Navigation of UAVs. In: Rojas, I., Joya, G., Catala, A. (eds) Advances in Computational Intelligence. IWANN 2017. Lecture Notes in Computer Science(), vol 10306. Springer, Cham. https://doi.org/10.1007/978-3-319-59147-6_50

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  • DOI: https://doi.org/10.1007/978-3-319-59147-6_50

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-319-59147-6

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