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Rapid A*: a robust path planning scheme for UAVs

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Abstract

In current trends, Unmanned Aerial vehicles adopt a wide range of services for several applications, such as logistics, rescue operations, and real-time monitoring. UAVs’ are proven be provide a safe and cost-effective solution. Efficient Path planning is crucial to the navigation of UAVs in different environments. However, finding an optimal path is challenging as it is about more than just finding the shortest path but also considering many factors, such as path generation time and path quality. The present work aims to design and develop an efficient algorithm for providing an obstacle-free path approach between two points. The present work proposed a novel path planning scheme (Rapid A*) using a bounded line-of-sight approach to provide a guaranteed solution and achieve motivating results concerning path length and path generation time. We also provide a detailed comparative analysis of the proposed RA* approach with trademark and the latest approaches A*, Beam Search, IDA*, DWA*, and Theta* algorithm. In terms of path generation time and while considering the realistic path, the proposed approach outperforms other approaches and achieves approx 18% less path generation time as compared to A*, Beam Search and Theta* algorithm and 4% less path length as compared to A*, Beam Search, IDA* and DWA* algorithm.

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PK and KP designed the system model. PK conceptualized the framework and formulated the algorithm, carried out the implementation. MCG conceived the study and were in charge of overall direction and planning. The first draft of the manuscript was written by PK and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Pawan Kumar.

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Appendix A Percentage improvement

Appendix A Percentage improvement

1.1 A.1 Percentage improvement in terms of path length with respect to RA* algorithm

See Table 4 and Fig. 11.

Table 4 Percentage improvement in terms of path length with respect to RA* algorithm
Fig. 11
figure 11

Percentage improvement in terms of path length

1.2 Percentage improvement in terms of path generation time with respect to RA* algorithm

See Table 5 and Fig. 12.

Table 5 Percentage improvement in terms of path generation time with respect to RA* algorithm
Fig. 12
figure 12

Percentage improvement in terms of path generation time

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Kumar, P., Pal, K., Govil, M.C. et al. Rapid A*: a robust path planning scheme for UAVs. Int J Intell Robot Appl 7, 720–739 (2023). https://doi.org/10.1007/s41315-023-00294-y

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  • DOI: https://doi.org/10.1007/s41315-023-00294-y

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