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http://dx.doi.org/10.5139/JKSAS.2022.50.3.157

Parallelization of Probabilistic RoadMap for Generating UAV Path on a DTED Map  

Noh, Geemoon (Pusan National University)
Park, Jihoon (Pusan National University)
Min, Chanoh (Korea Aerospace Industries)
Lee, Daewoo (Pusan National University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.50, no.3, 2022 , pp. 157-164 More about this Journal
Abstract
In this paper, we describe how to implement the mountainous terrain, radar, and air defense network for UAV path planning in a 3-D environment, and perform path planning and re-planning using the PRM algorithm, a sampling-based path planning algorithm. In the case of the original PRM algorithm, the calculation to check whether there is an obstacle between the nodes is performed 1:1 between nodes and is performed continuously, so the amount of calculation is greatly affected by the number of nodes or the linked distance between nodes. To improve this part, the proposed LineGridMask method simplifies the method of checking whether obstacles exist, and reduces the calculation time of the path planning through parallelization. Finally, comparing performance with existing PRM algorithms confirmed that computational time was reduced by up to 88% in path planning and up to 94% in re-planning.
Keywords
UAV; Probabilistic Roadmap(PRM); 3-D Path Planning; Parallel computing;
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