A Path Planning Algorithm for Smooth Trajectories of Unmanned Aerial Vehicles via Potential Fields

Shuangyao Huang, Kin Huat Low

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

5 Citations (Scopus)

Abstract

Path planning is of critical importance to Unmanned Aerial Vehicle (UAV) based applications like unmanned delivery and inspection. The operating space of UAVs in urban environments is usually complex and dynamic. Safety and efficiency are hence the major concerns for UAV operations. Traditional path planning algorithms tend to find trajectories for UAVs in terms of safety which are theoretically optimal. However, the objective is usually difficult to achieve in practice given the complex operating environments and limited UAV capabilities. Thus, a path planning algorithm for UAVs that finds feasible trajectories is needed for UAV-based operations. In this paper, an Artificial Potential Field (APF) based algorithm is proposed for UAV's trajectory planning considerings concerns of safety, efficiency and kinetic constraints of UAVs. Simulation results show an improvement of 23% on efficiency and 89.5% on smoothness of trajectories over existing heuristic based methods. Performance metrics of safety, efficiency and smoothness of trajectories are analyzed based on simulation results. Parameter values in obtaining the good performance metrics have been suggested in the end of the paper.

Original languageEnglish
Title of host publication2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1677-1684
Number of pages8
ISBN (Electronic)9781538695821
DOIs
Publication statusPublished - 18 Dec 2018
Externally publishedYes
Event15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 - Singapore, Singapore
Duration: 18 Nov 201821 Nov 2018

Publication series

Name2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018

Conference

Conference15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Country/TerritorySingapore
CitySingapore
Period18/11/1821/11/18

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