Abstract
The automatic motion or trajectory planning is essential for several tasks that lead to the autonomy increase of Unmanned Aerial Vehicles (UAVs). This work proposes a Dijkstra algorithm for fixed-wing UAVs trajectory planning. The navigation environments are represented by sets of visibility graphs constructed through the terrain elevations of these environments. Digital elevation models are used to represent the terrain elevations. A heuristics to verify if a trajectory is collision-free is also proposed in this work. This heuristics is a method of grid-based local search which presents linear computational time O(n p ), where n p is the number of verification steps. This heuristics is compared with another method for collision verification. Results are presented in this work.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Anderson, E.P., Beard, R.W., McLain, T.W.: Real-time dynamic trajectory smoothing for unmanned air vehicles. IEEE Transactions on Control Systems Technology 13(3), 471–477 (2005)
Goerzen, C., Kong, Z., Mettler, B.: A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance. Journal of Intelligent and Robotic Systems, 65–100 (2010)
Kuwata, Y., How, J.P.: Stable trajectory design for highly constrained environments using receding horizon control. In: Proceedings of the 2004 American Control Conference, Boston, Massachusetts, pp. 902–907 (June 2004)
Dijkstra, E.W.: A Note on Two Problems in Connection with Graphs. Numerische Mathematik 1, 269–271 (1959)
Medeiros, F.L.L., Silva, J.D.S.: Grafos de Visibilidade Aplicados à Representação Computacional de Ambientes de Navegação Aérea. In: X– Simpósio de Aplicações Operacionais em Áreas de Defesa (SIGE), São José dos Campos – SP (2008)
Nilsson, N.J.: A Mobile Automaton: An Application of Artificial Intelligence Techniques. In: Proceedings of the International Joint Conference on Artificial Intelligence, pp. 509–520. ACM, New York (1969)
Sanchez, G., Latombe, J.C.: A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking. In: Jarvis, R.A., Zelinsky, A. (eds.) Published in Robotics Research: The Tenth Int. Symp. Springer Tracts in Advanced Robotics, pp. 403–417. Springer, Heidelberg (2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Medeiros, F.L.L., da Silva, J.D.S. (2010). A Dijkstra Algorithm for Fixed-Wing UAV Motion Planning Based on Terrain Elevation. In: da Rocha Costa, A.C., Vicari, R.M., Tonidandel, F. (eds) Advances in Artificial Intelligence – SBIA 2010. SBIA 2010. Lecture Notes in Computer Science(), vol 6404. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16138-4_22
Download citation
DOI: https://doi.org/10.1007/978-3-642-16138-4_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16137-7
Online ISBN: 978-3-642-16138-4
eBook Packages: Computer ScienceComputer Science (R0)