쿼드콥터의 곡률 기반 3차원 경로 계획 알고리즘Curvature-based 3D Path Planning Algorithm for Quadcopter

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The increasing popularity of autonomous unmanned aerial vehicles (UAVs) can be attributed to their wide range of applications. 3D path planning is one of the crucial components enabling autonomous flight. In this paper, we present a novel 3D path planning algorithm that generates and utilizes curvature-based trajectories. Our approach leverages circular properties, offering notable advantages. First, circular trajectories make collision detection easier. Second, the planning procedure is streamlined by eliminating the need for the spline process to generate dynamically feasible trajectories. To validate our proposed algorithm, we conducted simulations in Gazebo Simulator. Within the simulation, we placed various obstacles such as pillars, nets, trees, and walls. The results demonstrate the efficacy and potential of our proposed algorithm in facilitating efficient and reliable 3D path planning for UAVs.
Publisher
한국로봇학회
Issue Date
2023-08
Language
Korean
Citation

로봇학회 논문지, v.18, no.3, pp.316 - 322

ISSN
1975-6291
URI
http://hdl.handle.net/10203/315167
Appears in Collection
EE-Journal Papers(저널논문)
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