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Within this paper, the problem of 3D inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the infrastructure facilities, accounts for their different importance and exploration function and computes an overall inspection path of high inspection reward while respecting...
We present a two step path planning algorithm for unmanned aerial vehicles (UAVs) with kinematic constraints in the presence of polygonal obstacles. We use a visibility graph representation for the environment and a Dubins vehicle approximation to model UAV kinematics. A modified Dijkstra's shortest path algorithm is developed as first step of our approach to plan paths for a UAV. The algorithm in...
A planar path planner for a persistent surveillance application in the presence of static obstacles is developed for a team of homogeneous unmanned aircraft systems (UAS). The role of the team is to provide complete coverage (sensor data or image acquisition) of a user designated area within a specified period. A two stage planner is chosen so that vehicle maneuver constraints can be satisfied in...
Several approaches can be identified in the literature for area decomposition: Grid based methods, Cellular decomposition and Boustrophedon (or Morse) decomposition. This paper proposes a novel discretization method for the area based on computational geometry approaches. By using a Constrained Delaunay Triangulation, a complex area is segmented in cells which have the size of the projected field...
Unmanned Aerial Vehicles (UAVs) are steadily replacing conventional manned aerial vehicles in multitude of tasks. Many of those tasks can be performed more efficiently by using a coordination between a team of UAVs rather than a single UAV. In this paper problem of cooperative area coverage using team of UAVs is addressed. Digital pheromones are used to convey information about search area. UAVs communicate...
In this paper, we study the curvature-constrained path planning problem for AUV docking in stationary obstacle environment. Expanded obstacle circles are used to redefine the polygonal obstacles, thus the curvature constraint is incorporated into the path planning algorithm. Unlike the existing algorithms that try to avoid the obstacles when the planning path collides with them, the novel algorithm...
This paper proposes to investigate the performance of a path planning method for a data acquisition task using multiple cooperative underwater vehicles (MAUV). We present a multiple objective path planning (MOPP) method to find the optimal solutions for the data acquisition task with certain constraints. This method is based on an Interval Programming (IvP) algorithm introduced in [1] for representing...
Most existing path planning algorithms focus on generating piecewise linear functions, while the smoothness of the path is usually ignored. Route stability and energy saving are key issues for an autonomous underwater vehicle (AUV) working in the underwater environment. To ensure that AUV can pass through the target area steadily and safely, a path smoother is required. This paper puts forward a novel...
When autonomous surface vessels conduct systematic seafloor surveying using a swath sonar system, the fixed angular coverage leads to differing horizontal coverage width with depth. Traditionally, missions have been pre-planned using fixed line spacing accounting for the minimum expected depth or with the intention of leaving gaps in some areas. A path planning algorithm and accompanying behaviors...
The following paper addresses the problem of applying existing path planning methods targeting rough terrains. Most path planning methods for mobile robots divide the environment in two areas—free and occupied—and restrict the path to lie within the free space. The presented solution addresses the problem of path planning on rough terrains, where the local shape of the environment are used to both...
Autonomous systems are an integral part of our present and future. One such example is autonomous or self-driving cars, which, as their name suggests, are capable of sensing their environment and navigating towards their destinations without human intervention. Such vehicles are already roaming the streets with pioneering and ambitious projects like Google's Self-Driving Car. In this paper, we discuss...
The objective of this paper is to discuss the control of a swarm of robots using the Particle Swarm Optimization (PSO) technique. The authors present fundamental research being conducted at the Autonomous Vehicle Systems Laboratory located at University of the Incarnate Word in developing biologically inspired robots emulating insect foraging and search behavior. PSO technique is used in order to...
Coverage path planning determines a path that guides an autonomous vehicle to pass every part of a workspace completely and efficiently. Since turns are often costly for autonomous vehicles, minimizing the number of turns usually produces more working efficiency. This paper presents an optimization approach to minimize the number of turns of autonomous vehicles in coverage path planning. For complex...
This paper presents an optimization approach that takes the vehicle's characteristics into account to minimize the non-working travel of mobile robots in coverage path planning. Since turns are often costly for mobile robots, minimizing the cost of turns usually produces more working efficiency. Prior researches on coverage path planning for mobile robots tend to fall into two complementary categories:...
Monitoring and recognition of large areas bringgreat challenge and Unmanned Aerial Vehicles (UAV) promise tobe a great help. The challenge is to optimize the task of UAVs, in order to reach the goals with maximum possible quality. Theobjective of this work is to analyze possible path algorithms andthe feasibility of embedded them in a UAV. The question we aim at answering is: given a set of points...
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and computationally low cost method which keeps the robot away from the obstacles in environment. However, this approach suffers from trapping in local minima of potential...
To reliably satisfy objectives, path planning and trajectory management algorithms for fixed-wing aerial systems (UAS) executing persistent surveillance missions must integrate onboard sensor capabilities and vehicle maneuver constraints. In many cases, the characteristic dimensions of sensor fields of view are comparable to the turning radius of the UAS platform. Consequently, when persistent, full...
Path planning and autonomous navigation are some of the most important challenges in mobile robotics. These are difficult tasks because the robot has to accurately and safely perform autonomous maneuverings. This paper presents a methodology to efficiently plan the trajectory of a robot in dynamic and complex environments, which it should traverse autonomously. A planner based in the AD* algorithm...
This paper presents a methodology to optimize the drive forces and steering angles for achieving accurate path tracking by a four wheel steer and four wheel drive (4WS4WD) vehicle. The 7-order Bézier curves are applied in path planning and online tracking, and used to obtain the kinematic and dynamic profiles for the guidance of vehicle. The 8-input dynamic model is developed and applied in an objective...
The problem of continuous curvature path planning for passages is considered. This problem arises when an autonomous vehicle traverses between prescribed boundaries such as corridors, tunnels, channels, etc. Passage boundaries with curvature and heading discontinuities pose challenges for generating smooth paths passing through them. Continuous curvature half-S shaped paths derived from the Four Parameter...
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