Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Optimal Path Planning Algorithm for Visiting Multiple Mission Points in Dynamic Environments

동적 변화 환경에서 다중 임무점 방문을 위한 최적 경로 계획 알고리즘

  • Received : 2018.10.02
  • Accepted : 2019.04.24
  • Published : 2019.05.01
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Abstract

The complexity of path planning for visiting multiple mission points is even larger than that of single pair path planning. Deciding a path for visiting n mission points requires conducting $n^2+n$ times of single pair path planning. We propose Multiple Mission $D^*$ Lite($MMD^*L$) which is an optimal path planning algorithm for visiting multiple mission points in dynamic environments. $MMD^*L$ reduces the complexity by reusing the computational data of preceding single pair path planning. Simulation results show that the complexity reduction is significant while its path optimality is not compromised.

다중 임무점 방문을 위한 경로 계획의 복잡도는 단일 구간 경로 계획을 위한 복잡도보다 크게 더 높다. n개의 다중 임무점을 방문하는 경로 계획을 위해서는 $n^2+n$번의 단일 구간 경로 계획이 필요하다. 본 논문에서는 동적 변화 환경에서 다중 임무점을 방문하기 위한 최적의 경로 계획 알고리즘인 Multiple Mission $D^*$ Lite($MMD^*L$) 알고리즘을 제안하였다. $MMD^*L$은 앞서 수행된 단일 구간 경로 계획 정보를 재사용함으로써 복잡도를 감소시킨다. 시뮬레이션 결과를 통해 경로의 최적성은 양보하지 않으면서도 복잡도가 급격하게 감소하였음을 확인하였다.

Keywords

References

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