Abstract
In this chapter we present simulation results of an algorithm designed to planning collision free path based on probabilistic search. The aim of this study is to design an algorithm for off-line planning a set of way-points which make the collision free route of an Unmanned Aerial Vehicle (UAV). The planning process is based on the graph that represents the map containing information about altitude of the terrain over which the UAV is intended to perform its mission. The size of the graph increases polynomially with the resolution of the map and the number of way points of UAV. The probabilistic method of making the representative model of the terrain was applied in order to reduce a complexity of planning the collision free path. The functioning and efficiency of the approach proposed was introduced in our previous work, here we use real terrain map and introduce indicators to illustrate properties of the algorithm.
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
Adolf, F.M., Hirschmuller, H.: Meshing and Simplification of High Resolution Urban Surface Data for UAV Path Planning. Journal of Intelligent and Robotic Systems 61, 169–180 (2011)
Barraquand, J., Kavraki, L., Latombe, J.C., Motwani, R., Li, T.Y., Raghavan, P.: A random sampling scheme for path planning. International Journal of Robotics Research 16, 759–774 (1997)
Barraquand, J., Langlois, B., Latombe, J.C.: Numerical Potential-Field Techniques for Robot Path Planning. IEEE Transactions on Systems Man and Cybernetics 22, 224–241 (1992)
Cedrych, D.: Poszukiwanie trajektorii bezzaogowego obiektu latającego w przestrzeni 3D z wykorzystaniem elementów teorii grafów. Unpublished engineer project, Silesian University of Technology (2011) (in polish)
Deo, N.: Graph Theory with Applications to Engineering and Computer Science. Prentice Hall Series in Automatic Computation (1974)
Fujimura, K., Samet, H.: A Hierarchical Strategy for Path Planning Among Moving Obstacles. IEEE Transactions on Robotics and Automation 5, 61–69 (1989)
Ge, S.S., Cui, Y.J.: New Potential Functions for Mobile Robot Path Planning. IEEE Transactions on Robotics and Automation 16, 615–620 (2000)
Hsu, D., Latombe, J.C., Motwani, R.: Path Planning in Expansive configuration spaces. International Journal of Computational Geometry and Applications 9, 495–512 (1999)
Hwang, Y.K., Ahuja, N.: A Potential-Field Approach to Path Planning. IEEE Transactions on Robotics and Automation 8, 23–32 (1992)
Kambhampati, S., Davis, L.S.: Multiresolution Path Planning for Mobile Robots. IEEE Journal of Robotics and Automation 2, 135–145 (1986)
Kant, K., Zucker, S.W.: Toward Efficient Trajectory Planning - the Path-Velocity Decomposition. International Journal of Robotics Research 5, 72–89 (1986)
Kavraki, L.E., Kolountzakis, M.N., Latombe, J.C.: Analysis of Probabilistic Roadmaps for Path Planning. IEEE Transactions on Robotics and Automation 14, 166–171 (1998)
Kavraki, L.E., Svestka, P., Latombe, J.C., Overmars, M.H.: Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration spaces. IEEE Transactions on Robotics and Automation 12, 566–580 (1996)
LaValle, S.M.: Planning Algorithms. Cambridge University Press (2006)
Lumelsky, V.J., Mukhopadhyay, S., Sun, K.: Dynamic Path Planning in Sensor-Based Terrain Acquisition. IEEE Transactions on Robotics and Automation 6, 462–472 (1990)
Lumelsky, V.J., Stepanov, A.A.: Dynamic Path Planning for a Mobile Automaton with Limited Information on the Environment. IEEE Transactions on Automatic Control 31, 1058–1063 (1986)
Lumelsky, V.J., Stepanov, A.A.: Path-Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape. Algorithmica 2, 403–430 (1987)
Nakamura, Y., Mukherjee, R.: Nonholonomic Path Planning of Space Robots Via a Bidirectional Approach. IEEE Transactions on Robotics and Automation 7, 500–514 (1991)
Nikolos, I.K., Valavanis, K.P., Tsourveloudis, N.C., Kostaras, A.N.: Evolutionary Algorithm Based Offline/Online Path Planner for Uav Navigation. IEEE Transactions on Systems Man and Cybernetics Part B-Cybernetics 33, 898–912 (2003)
Paik, D.S., Beaulieu, C.F., Jeffrey, R.B., Rubin, G.D., Napel, S.: Automated Flight Path Planning for Virtual Endoscopy. Medical Physics 25, 629–637 (1998)
Pehlivanoglu, Y.V., Baysal, O., Hacioglu, A.: Path Planning for Autonomous Uav Via Vibrational Genetic Algorithm. Aircraft Engineering and Aerospace Technology 79, 352–359 (2007)
Skrzypczyk, K., Gałuszka, A., Pacholczyk, M., Daniec, K.: Probabilistic Approach to Planning Collision Free Path of UAV. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems of National Border Security. SCI, vol. 440, pp. 59–68. Springer, Heidelberg (2013)
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press (2005)
Tisdale, J., Kim, Z., Hedrick, J.K.: Autonomous UAV Path Planning and Estimation an Online Path Planning Framework for Cooperative Search and Localization. IEEE Robotics and Automation Magazine 16, 35–42 (2009)
Zhu, D., Latombe, J.C.: New Heuristic Algorithms for Efficient Hierarchical Path Planning. IEEE Transactions on Robotics and Automation 7, 9–26 (1991)
Maps with terrain details (2012), http://wysokosc.mapa.info.pl/
Jędrasiak, K., Bereska, D., Nawrat, A.: The Prototype of Gyro-Stabilized UAV Gimbal for Day-Night Surveillance. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems of National Border Security. SCI, vol. 440, pp. 107–116. Springer, Heidelberg (2013)
Galuszka, A., Bereska, D., Simek, K., Skrzypczyk, K., Daniec, K.: Application of graphs theory methods to criminal analysis system. Przeglad Elektrotechniczny 86(9), 278–283 (2010)
Skrzypczyk, K.: Behaviour activity based maps applied to mobile robot navigation. In: Proceedings of the 13th WSEAS International Conference on Systems, pp. 295–300 (2009)
Skorkowski, A., Topor-Kaminski, T.: Analysis of EGNOS-augmented receiver positioning accuracy. Acta Physica Polonica A 122(5), 821–824 (2012)
Iwaneczko, P., Jędrasiak, K., Daniec, K., Nawrat, A.: A prototype of unmanned aerial vehicle for image acquisition. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds.) ICCVG 2012. LNCS, vol. 7594, pp. 87–94. Springer, Heidelberg (2012)
Czornik, A., Niezabitowski, M.: Lyapunov exponents for systems with unbounded coefficients. Dynamical Systems: An International Journal (2012)
Czornik, A., Nawrat, A., Niezabitowski, M.: On the Lyapunov exponents of a class of second-order discrete time linear systems with bounded perturbations. Dynamical Systems: An International Journal (2012)
Czornik, A., Niezabitowski, M.: On the spectrum of discrete time-varying linear systems. Nonlinear Analysis: Hybrid Systems 9, 27–41 (2013)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Cedrych, D., Gałuszka, A., Pacholczyk, M., Skrzypczyk, K., Nawrat, A. (2013). Probabilistic Approach to Planning Collision Free Path of UAV. In: Nawrat, A., Kuś, Z. (eds) Vision Based Systemsfor UAV Applications. Studies in Computational Intelligence, vol 481. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00369-6_12
Download citation
DOI: https://doi.org/10.1007/978-3-319-00369-6_12
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00368-9
Online ISBN: 978-3-319-00369-6
eBook Packages: EngineeringEngineering (R0)