JIPS (한국정보처리학회)
Current Result Document :
| 한글제목(Korean Title) |
Boundary-RRT* Algorithm for Drone Collision Avoidance and Interleaved Path Re-planning |
| 영문제목(English Title) |
Boundary-RRT* Algorithm for Drone Collision Avoidance and Interleaved Path Re-planning |
| 저자(Author) |
Je-Kwan Park
Tai-Myoung Chung
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| 원문수록처(Citation) |
VOL 16 NO. 06 PP. 1324 ~ 1342 (2020. 12) |
한글내용
(Korean Abstract) |
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영문내용
(English Abstract) |
Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.
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| 키워드(Keyword) |
Collision Avoidance
Drone
Global Path Planning
Local Path Planning
Planner
Rapidly-exploring Random
Tree (RRT)
RRT* (RRT star)
Torus
Unmanned Aerial Vehicle (UAV)
Velocity Obstacle
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