A path planning scheme for unmanned combat air vehicle (UCAV) is developed for achieving optimal local path replanning under complicated air-battle environment. Constructing and searching an improved voronoi di
exact plans will likely become invalid in the future and continuous replanning is necessary. The robots of the RoboCup Standard Platform League are equipped with limited
A model-based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths...
For each colliding segment detected in an iteration, a collision-free path Γ is generated. Each control point Qi of the colliding segment, ZHOU et al.: EGO-PLANNER: AN ESDF-FREE GRADIENT-BASED LOCAL PLANNER FOR QUADROTORS 3 Obstacle −1 +1 0 v High Low Distance Value p (a) {p, v...
Local replanningConsensus-based bundle algorithm (CBBA) is a decentralized task allocation algorithm that can produce feasible and conflict-free task assignment solution for multi-UAV system in the search and rescue scenarios. Further considering the new emerging tasks, this paper studies how to ...
Chong Yu , Qiwen Qiu , Xiong Chen, A hybrid two-dimensional path planning model based on frothing construction algorithm and local fast marching method, Computers and Electrical Engineering, v.39 n.2, p.475-487, February, 2013 [doi>10.1016/j.compeleceng.2012.09.010]...
The online replanning problem is solved using a new approach for A~* algorithm, called OA~*; Online A~* allowing the mobile robot navigate through obstacles in unknown environment and find the shortest feasible path from an initial position to a target position by avoiding the obstacl...
There is often a need to replan paths online based on information extracted from the surroundings. The environment is modeled as a grid-map form of environment. The online replanning problem is solved using a new approach for \\( A^{*} \\) algorithm, called \\( OA^{*} \\); Online...
Based on the hierarchical model of road networks, we use source-directed A~* to save the path planning time, to create a good traveling time path, and to construct a backup path tree. When a traffic condition of a link in the driving path becomes worse, the replanning of a new partial...
The Dynamic A* (D*) algorithm is a dynamic planning algorithm proposed by Stentz et al., based on the A* algorithm, which can quickly replan part of the local path when the environment changes without replanning the whole path, thus reducing the computational effort and meeting real-time ...