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Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem
Joint Authors
Benzaid, Karima
Marie, Romain
Mansouri, Noura
Labbani-Igbida, Ouiddad
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-06-03
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper introduces an original 3D path planning approach for Unmanned Aerial Vehicle (UAV) applications.
More specifically, the core idea is to generate a smooth and collision-free path with respect to the vehicle dimension.
Given a 3D grid representation of the environment, the Generalized Voronoi Graph (GVG) is first approximated using a filtered medial surface (FMS) algorithm on the corresponding navigable space.
Based on an efficient pruning criterion, the produced FMS excludes GVG portions corresponding to narrow passages unfitting safe UAV navigation constraints, and thus it defines a set of guaranteed safe trajectories within the environment.
Given a set of starting and destination coordinates, an adapted A-star algorithm is then applied to compute the shortest path on the FMS.
Finally, an optimization process ensures the smoothness of the final path by fitting a set of 3D Bézier curves to the initial path.
For a comparative study, the A-star algorithm is applied directly on the input environment representation and relevant comparative criteria are defined to assert the proposed approach using simulation results.
American Psychological Association (APA)
Benzaid, Karima& Marie, Romain& Mansouri, Noura& Labbani-Igbida, Ouiddad. 2018. Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem. Journal of Robotics،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1197804
Modern Language Association (MLA)
Benzaid, Karima…[et al.]. Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem. Journal of Robotics No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1197804
American Medical Association (AMA)
Benzaid, Karima& Marie, Romain& Mansouri, Noura& Labbani-Igbida, Ouiddad. Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1197804
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197804