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UAV path planning
| Content Provider | Indraprastha Institute of Information Technology, Delhi |
|---|---|
| Author | Kumar, Abhishek |
| Abstract | The objective of this project is to develop a path planning algorithm for an unmanned aerial vehicle (UAV) considering the terrain as well as kinematic constraints of UAV into account. The terrain through which UAV has to pass, contains obstacles which are to be avoided. The problem of path planing was tackled in two scenarios. First by urban scenario, where a path planner is designed using visibility graphs in 2D environment taking the height of UAV to be constant. Second planner is based on terrain hugging where the paths need to have a constant height from the terrain. A modi ed version of Dijkstra and A-Star algorithms were used separately for urban and terrain hugging scenarios. The path planners return way points to the UAVs for experimentation. The implementation of the Dijkstra and A-star algorithm are carried using C++ and OpenGL on 3D environment while visibility graph based solution in done on Java using Java Graphics for visualization. Experiments and simulation are presented to check the paths generated by di erent path planners. The project can be further extended in future by considering other matrices of the UAVs like fuel. |
| File Format | |
| Language | English |
| Access Restriction | Authorized |
| Subject Keyword | Path planning Unmanned air vehicles Visibility graph Dijkstra's algorithm A- star 3D terrain |
| Content Type | Text |
| Educational Degree | Bachelor of Technology (B.Tech.) |
| Subject | Data processing & computer science |
