• Title/Summary/Keyword: 3-D Path Planning

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3D Costmap Generation and Path Planning for Reliable Autonomous Flight in Complex Indoor Environments (복합적인 실내 환경 내 신뢰성 있는 자율 비행을 위한 3차원 장애물 지도 생성 및 경로 계획 알고리즘)

  • Boseong Kim;Seungwook Lee;Jaeyong Park;Hyunchul Shim
    • The Journal of Korea Robotics Society
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    • v.18 no.3
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    • pp.337-345
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    • 2023
  • In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

An Efficient 3-D Path Planning Algorithm for Robot Navigation (능률적인 3차원 경로계획 알고리즘 개발에 관한 연구)

  • Lee, S.C.;Yang, W.Y.;Kim, Y.H.
    • Proceedings of the KIEE Conference
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    • 1996.07b
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    • pp.1208-1211
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    • 1996
  • In this paper, an efficient and robust robot path planning technique is discussed. Concentric Ripple Edge Evaluation and Progression( CREEP ) algorithm[1] has been elaborated and expanded to carry out 3-D path planning. Like the 2-D case, robot can always find a path, if one exists, in a densely cluttered, unknown and unstructured 3-D obstacle environment. 3-D space in which the robot is expected to navigate is modeled by stacking cubic cells. The generated path is resolution optimal once the terrain is fully explored by the robot or all the information about the terrain is given. Path planning times are significantly reduced by local path update. Accuracy and efficiency of wave propagation in CREEP algorithm are achieved by virtual concentric sphere wave propagation. Simulations in 2-D and 3-D spaces are performed and excellent results are demonstrated.

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Curvature-based 3D Path Planning Algorithm for Quadcopter (쿼드콥터의 곡률 기반 3차원 경로 계획 알고리즘)

  • Jaeyong Park;Boseong Kim;Seungwook Lee;Maulana Bisyir Azhari;Hyunchul Shim
    • The Journal of Korea Robotics Society
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    • v.18 no.3
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    • pp.316-322
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    • 2023
  • The increasing popularity of autonomous unmanned aerial vehicles (UAVs) can be attributed to their wide range of applications. 3D path planning is one of the crucial components enabling autonomous flight. In this paper, we present a novel 3D path planning algorithm that generates and utilizes curvature-based trajectories. Our approach leverages circular properties, offering notable advantages. First, circular trajectories make collision detection easier. Second, the planning procedure is streamlined by eliminating the need for the spline process to generate dynamically feasible trajectories. To validate our proposed algorithm, we conducted simulations in Gazebo Simulator. Within the simulation, we placed various obstacles such as pillars, nets, trees, and walls. The results demonstrate the efficacy and potential of our proposed algorithm in facilitating efficient and reliable 3D path planning for UAVs.

Semi-3D Path Planning using Virtual Tangential Vector and Fuzzy Control (Virtual Tangential Vector와 퍼지 제어를 이용한 준 3차원 경로계획)

  • Kwak, Kyung-Woon;Jeong, Hae-Kwan;Kim, Soo-Hyun
    • The Journal of Korea Robotics Society
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    • v.5 no.2
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    • pp.127-134
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    • 2010
  • In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.

A Design of Path Planning Algorithm for Biped Walking Robot in 3-D Obstacle Environment (3차원 장애물에서의 이족보행로봇을 위한 이동경로계획 알고리즘의 설계)

  • Min, Seung-Ki;Kim, Dae-Won
    • Proceedings of the KIEE Conference
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    • 1997.11a
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    • pp.576-580
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    • 1997
  • This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

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Three-dimensional Energy-Aware Path Planning for Quadcopter UAV (쿼드콥터 소모 에너지를 비용함수로 하는 3차원 경로계획)

  • Kim, Hyowon;Jeong, Jinseok;Kang, Beomsoo
    • Journal of Aerospace System Engineering
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    • v.14 no.5
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    • pp.9-17
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    • 2020
  • Mobile robots, including UAVs perform missions with limited fuel. Therefore, the energy-aware path planning is required to maximize efficiency when the robot is operated for a long time. In this study, we estimated the power consumption for each maneuver of a quadcopter UAV in the 3D environment and applied to the cost functions of D Lite. The simulations were performed in a 3D environment that is similar to the industrial sites. The efficiency of path generation was high when the energy-aware path planning with simplified heuristic was applied. In addition, the energy-aware path was generated 19.3 times faster than the shortest path with a difference within 3.2%.

3-Dimensional Path Planning and Guidance using the Dubins Curve for an 3-DOF Point-mass Aircraft Model (Dubins 곡선을 이용한 항공기 3자유도 질점 모델의 3차원 경로계획 및 유도)

  • O, Su-Hun;Ha, Chul-Su;Kang, Seung-Eun;Mok, Ji-hyun;Ko, Sangho;Lee, Yong-Won
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.24 no.1
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    • pp.1-9
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    • 2016
  • In this paper, we integrate three degree of freedom(3DOF) point-mass model for aircraft and three-dimensional path generation algorithms using dubins curve and nonlinear path tracking law. Through this integration, we apply the path generation algorithm to the path planning, and verify tracking performance and feasibility of using the aircraft 3DOF point-mass model for air traffic management. The accuracy of modeling 6DOF aircraft is more accurate than that of 3DOF model, but the complexity of the calculation would be raised, in turn the rate of computation is more likely to be slow due to the increase of degree of freedom. These obstacles make the 6DOF model difficult to be applied to simulation requiring real-time path planning. Therefore, the 3DOF point-mass model is also sufficient for simulation, and real-time path planning is possible because complexity can be reduced, compared to those of the 6DOF. Dubins curve used for generating the optimal path has advantage of being directly available to apply path planning. However, we use the algorithm which extends 2D path to 3D path since dubins curve handles the two dimensional path problems. Control law for the path tracking uses the nonlinear path tracking laws. Then we present these concomitant simulation results.

Genetic Algorithm Based 3D Environment Local Path Planning for Autonomous Driving of Unmanned Vehicles in Rough Terrain (무인 차량의 험지 자율주행을 위한 유전자 알고리즘 기반 3D 환경 지역 경로계획)

  • Yun, SeungJae;Won, Mooncheol
    • Journal of the Korea Institute of Military Science and Technology
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    • v.20 no.6
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    • pp.803-812
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    • 2017
  • This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

3D A*-based Berthing Path Planning Algorithm Considering Path Following Suitability (경로 추종 적합성 고려 3D A* 기반 접안 경로 계획 알고리즘 개발)

  • Yeong-Ha Shin
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2022.11a
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    • pp.351-356
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    • 2022
  • Among the path planning methods used to generate the ship's path, the graph search-based method is widely used because it has the advantage of its completeness, optimality. In order to apply the graph-based search method to the berthing path plan, the deviation from the path must be minimized. Path following suitability should be considered essential, since path deviation during berthing can lead to collisions with berthing facilities. However, existing studies of graph search-based berthing path planning are dangerous for application to real-world navigation environments because they produce results with a course change just before berthing. Therefore, in this paper, we develop a cost function suitable for path following, and propose a 3D A* algorithm that applies it. In addition, in order to evaluate the suitability for the actual operating environment, the results of the path generation of the algorithm are compared with the trajectory of the data collected by manned operations.

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Developments of a Path Planning Algorithm and Simulator for Unmanned Ground Vehicle (무인자율차량을 위한 경로계획 알고리즘 및 시뮬레이터 개발)

  • Kim, Sang-Gyum;Kim, Sung-Gyun;Lee, Yong-Woo
    • Transactions of the Korean Society of Automotive Engineers
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    • v.15 no.3
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    • pp.1-9
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    • 2007
  • A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.