Title :
Fast online path planning method based on path network
Author :
Li, Shidong ; Ding, Mingyue ; Cai, Chao ; Zhang, Zhengsheng
Author_Institution :
Hubei Univ. for Nat., Enshi, China
Abstract :
Online path planning is a crucial technology for aircraft flying in dynamic environments, no matter for safety or for precision target tracking. Fast planning algorithm is keystone for online path planning. New online path planning method based on path network combining with A* searching method was proposed in this paper. Fast Marching Method (FMM) is used to construct the path network for static environment, and the path segment can be reused once it was obtained, therefore, the replanning speed improved. Experiment showed that it works efficient for moving target tracking and pop-up obstacle avoidance.
Keywords :
aerospace robotics; collision avoidance; mobile robots; remotely operated vehicles; robot dynamics; A* searching method; aircraft technology; fast marching method; moving target tracking; online path planning method; path network; path segment; pop-up obstacle avoidance; A* searching method; FMM; online path planning; path network; path segment;
Conference_Titel :
Computer Application and System Modeling (ICCASM), 2010 International Conference on
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4244-7235-2
Electronic_ISBN :
978-1-4244-7237-6
DOI :
10.1109/ICCASM.2010.5622816
