Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem
This paper introduces an original 3D path planning approach for Unmanned Aerial Vehicle (UAV) applications. More specifically, the core idea is to generate a smooth and collision-free path with respect to the vehicle dimension. Given a 3D grid representation of the environment, the Generalized Voron...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/4676720 |
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| author | Karima Benzaid Romain Marie Noura Mansouri Ouiddad Labbani-Igbida |
| author_facet | Karima Benzaid Romain Marie Noura Mansouri Ouiddad Labbani-Igbida |
| author_sort | Karima Benzaid |
| collection | DOAJ |
| description | This paper introduces an original 3D path planning approach for Unmanned Aerial Vehicle (UAV) applications. More specifically, the core idea is to generate a smooth and collision-free path with respect to the vehicle dimension. Given a 3D grid representation of the environment, the Generalized Voronoi Graph (GVG) is first approximated using a filtered medial surface (FMS) algorithm on the corresponding navigable space. Based on an efficient pruning criterion, the produced FMS excludes GVG portions corresponding to narrow passages unfitting safe UAV navigation constraints, and thus it defines a set of guaranteed safe trajectories within the environment. Given a set of starting and destination coordinates, an adapted A-star algorithm is then applied to compute the shortest path on the FMS. Finally, an optimization process ensures the smoothness of the final path by fitting a set of 3D Bézier curves to the initial path. For a comparative study, the A-star algorithm is applied directly on the input environment representation and relevant comparative criteria are defined to assert the proposed approach using simulation results. |
| format | Article |
| id | doaj-art-761472921db54aa784c8ca71a20204bc |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-761472921db54aa784c8ca71a20204bc2025-02-03T01:26:47ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/46767204676720Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning ProblemKarima Benzaid0Romain Marie1Noura Mansouri2Ouiddad Labbani-Igbida3LARC Laboratory, University Frères Mentouri Constantine 1, Constantine, AlgeriaX-Lim Institute, UMR CNRS 7252, University of Limoges, Limoges, FranceLARC Laboratory, University Frères Mentouri Constantine 1, Constantine, AlgeriaX-Lim Institute, UMR CNRS 7252, University of Limoges, Limoges, FranceThis paper introduces an original 3D path planning approach for Unmanned Aerial Vehicle (UAV) applications. More specifically, the core idea is to generate a smooth and collision-free path with respect to the vehicle dimension. Given a 3D grid representation of the environment, the Generalized Voronoi Graph (GVG) is first approximated using a filtered medial surface (FMS) algorithm on the corresponding navigable space. Based on an efficient pruning criterion, the produced FMS excludes GVG portions corresponding to narrow passages unfitting safe UAV navigation constraints, and thus it defines a set of guaranteed safe trajectories within the environment. Given a set of starting and destination coordinates, an adapted A-star algorithm is then applied to compute the shortest path on the FMS. Finally, an optimization process ensures the smoothness of the final path by fitting a set of 3D Bézier curves to the initial path. For a comparative study, the A-star algorithm is applied directly on the input environment representation and relevant comparative criteria are defined to assert the proposed approach using simulation results.http://dx.doi.org/10.1155/2018/4676720 |
| spellingShingle | Karima Benzaid Romain Marie Noura Mansouri Ouiddad Labbani-Igbida Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem Journal of Robotics |
| title | Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem |
| title_full | Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem |
| title_fullStr | Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem |
| title_full_unstemmed | Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem |
| title_short | Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem |
| title_sort | filtered medial surface based approach for 3d collision free path planning problem |
| url | http://dx.doi.org/10.1155/2018/4676720 |
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