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An Efficient Path Planning and Control Algorithm for RUAV’s in Unknown and Cluttered Environments

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Abstract

This paper presents an efficient planning and execution algorithm for the navigation of an autonomous rotary wing UAV (RUAV) manoeuvering in an unknown and cluttered environment. A Rapidly-exploring Random Tree (RRT) variant is used for the generation of a collision free path and linear Model Predictive Control(MPC) is applied to follow this path. The guidance errors are mapped to the states of the linear MPC structure by using the nonlinear kinematic equations. The proposed path planning algorithm considers the run time of the planning stage explicitly and generates a continuous curvature path whenever replanning occurs. Simulation results show that the RUAV with the proposed methodology successfully achieves autonomous navigation regardless of its lack of prior information about the environment.

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Authors and Affiliations

  1. Australian Centre for Field Robotics, University of Sydney, Sydney, New South Wales, 2006, Australia

    Kwangjin Yang, Seng Keat Gan & Salah Sukkarieh

Authors
  1. Kwangjin Yang
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  2. Seng Keat Gan
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  3. Salah Sukkarieh
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Corresponding author

Correspondence to Kwangjin Yang.

Additional information

This work is supported in part by the ARC Centre of Excellence programme, funded by the Australian Research Council (ARC) and the New South Wales State Government.

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Yang, K., Gan, S.K. & Sukkarieh, S. An Efficient Path Planning and Control Algorithm for RUAV’s in Unknown and Cluttered Environments. J Intell Robot Syst 57, 101–122 (2010). https://doi.org/10.1007/s10846-009-9359-1

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  • DOI: https://doi.org/10.1007/s10846-009-9359-1

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