An Improved Sparse Hierarchical Lazy Theta* Algorithm for UAV Real-Time Path Planning in Unknown Three-Dimensional Environment.
Chengfang WuXiaoyan HuangYuanlin LuoSupeng LengFan WuPublished in: ICCT (2020)
Keyphrases
- path planning
- path planning algorithm
- mobile robot
- real time
- dynamic environments
- multi robot
- optimal path
- multiple robots
- autonomous vehicles
- dynamic and uncertain environments
- three dimensional
- indoor environments
- obstacle avoidance
- path planner
- trajectory planning
- aerial vehicles
- navigation tasks
- collision avoidance
- unmanned aerial vehicles
- motion planning
- search space
- path finding
- np hard
- configuration space
- objective function
- potential field
- worst case
- dead ends
- robot path planning
- degrees of freedom
- genetic algorithm
- particle swarm optimization
- autonomous navigation
- optimal solution
- dynamic programming