A Study on a Three-Dimensional Path Planning Algorithm for a Large-Scale Swarm 대규모 군집을 위한 3 차원 경로계획 알고리즘에 대한 연구

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In this paper, we propose a three-dimensional path planning algorithm for a large-scale swarm. The proposed algorithm isbased on the Eulerian approach that controls spatial characteristics which is an agent density vector. This algorithm has three phases,which are environment abstraction, optimal transport, and collision avoidance, respectively. The algorithm can be applied to a largescaleswarm of 1000 agents or more, and it guarantees collision avoidance between obstacles existing in the given flight environmentand the surrounding agents. We carried out simulation using two scenarios, and as a result, it was confirmed that the proposedalgorithm is suitable for three-dimensional path planning for a large-scale swarm.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2019-12
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.25, no.12, pp.1071 - 1076

ISSN
1976-5622
DOI
10.5302/J.ICROS.2019.19.0146
URI
http://hdl.handle.net/10203/271424
Appears in Collection
EE-Journal Papers(저널논문)
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