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We propose a cost based rapidly-exploring random tree method (CBRRT) to plan an improved path under complex obstacles and threats, limited deliberation time and constraints. The sampling space reduction of the dynamic domain rapidly-exploring random tree method (DDRRT) is improved and heuristics are applied, to guide the path tree to avoid threats and obstacles quickly, to rapidly find a low threat...
UAV online path-planning in a low altitude dangerous environment with dense obstacles, static threats (STs) and dynamic threats (DTs), is a complicated, dynamic, uncertain and real-time problem. We propose a novel method to solve the problem to get a feasible and safe path. Firstly STs are modeled based on intuitionistic fuzzy set (IFS) to express the uncertainties in STs. The methods for ST assessment...
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