Dynamic uav path planning for moving target intercept in 3D

Author

Triharminto, H.H. ; Adji, T.B. ; Setiawan, N.A.

Author_Institution

EE & IT Dept., Gadjah Mada Univ., Yogyakarta, Indonesia

fYear

2011

fDate

15-17 Nov. 2011

Firstpage

157

Lastpage

161

Abstract

Dynamic path planning is one of the challenging research problems which is needed to guide UAV (Unmanned Aerial Vehicle) for moving target intercept. This research is to develop an algorithm for moving target intercept with obstacle avoidance in 3D. The algorithm which is called L+Dumo Algorithm integrate a modified Dubins Algorithm and Linear Algorithm. The simulation is conducted using one UAV and one moving target with an obstacle of cylindrical shape in between both objects. The result shows that the algorithm can guide UAV to approach the moving target with the accuracy of 67.417% L+Dumo algorithm will solve dynamic path planning problem for moving target intercept in 3D with minimum complexity of computation.

Keywords

autonomous aerial vehicles; collision avoidance; L+Dumo algorithm; computational complexity; cylindrical shape; dynamic UAV path planning; linear algorithm; modified Dubins algorithm; moving target intercept; obstacle avoidance; research problem; unmanned aerial vehicle; Educational institutions; L+Dumo algorithm; dynamic path planning; moving target;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation Control and Automation (ICA), 2011 2nd International Conference on

Conference_Location

Bandung

Print_ISBN

978-1-4577-1462-7

Type

conf

DOI

10.1109/ICA.2011.6130148

Filename

6130148