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http://dx.doi.org/10.5139/JKSAS.2019.47.5.379

Optimal Path Planning Algorithm for Visiting Multiple Mission Points in Dynamic Environments  

Lee, Hohyeong (Agency for Defense Development)
Chang, Woohyuk (Agency for Defense Development)
Jang, Hwanchol (Agency for Defense Development)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.47, no.5, 2019 , pp. 379-387 More about this Journal
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.
Keywords
UAV; Path Planning; Motion Planning; Multiple Goals; Multiple Missions; Dynamic Environments; Data Reuse; Replanning; $D^*$ Lite;
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