Title :
Path planning algorithm for VTOL type UAVs based on the methods of ray tracing and limit cycle
Author :
Min, Byung Cheol ; Kwon, Hee Yeul ; Kim, Donghan
Author_Institution :
Dept. of Electr. Eng., Kyung Hee Univ., Yongin, South Korea
Abstract :
In this paper, the new path planning algorithm for vertical take-off and landing (VTOL) type unmanned aerial vehicles (UAVs), which is widely used in various practical applications, is introduced. The essence of the algorithm comes from the existing limit cycle navigation method for works in 2D and 3D, respectively. In addition, the ray tracing method is applied in order to enhance the work in 3D. The combined method of ray tracing and limit cycle is the core of the proposed path planning algorithm, and it is verified through a set of simulations. And then, the results show that the algorithm can generate the ideal path among the possible paths to reach the destination.
Keywords :
aircraft; limit cycles; path planning; ray tracing; remotely operated vehicles; VTOL type UAV; limit cycle navigation method; path planning algorithm; ray tracing; vertical take-off-and-landing type unmanned aerial vehicles; Artificial intelligence; Artificial neural networks; Ethics; Humans; Intelligent agent; Intelligent robots; Limit-cycles; Path planning; Ray tracing; Turning;
Conference_Titel :
Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-4808-1
Electronic_ISBN :
978-1-4244-4809-8
DOI :
10.1109/CIRA.2009.5423191
