A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm

Tianqi Qie; Weida Wang; Chao Yang; Ying Li; Wenjie Liu

doi:10.1007/978-981-99-0479-2_338

A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm

Tianqi Qie^*
, Weida Wang
, Chao Yang
, Ying Li
, Wenjie Liu

^*此作品的通讯作者

机械与车辆学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

Autonomous flying vehicles are promising transportation of the future, which have the function of ground vehicles and low-altitude aircraft. To plan a feasible path effectively, an improved optimal rapidly-exploring random tree (RRT*) method is proposed. Firstly, a cost function considering driving efficiency and the energy consumption is established. Then, the cost of a known feasible path, which flies from the start point to the goal point directly, is calculated as a benchmark. According to the benchmark, the planning area is reduced to an elliptical area. The proposed method is verified by simulations with an actual cross-country environment. Results show that the computation time decreased by 11.3% compared with the basic RRT* method.

源语言	英语
主期刊名	Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
编辑	Wenxing Fu, Mancang Gu, Yifeng Niu
出版商	Springer Science and Business Media Deutschland GmbH
页	3665-3675
页数	11
ISBN（印刷版）	9789819904785
DOI	https://doi.org/10.1007/978-981-99-0479-2_338
出版状态	已出版 - 2023
活动	International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, 中国期限: 23 9月 2022 → 25 9月 2022

出版系列

姓名	Lecture Notes in Electrical Engineering
卷	1010 LNEE
ISSN（印刷版）	1876-1100
ISSN（电子版）	1876-1119

会议

会议	International Conference on Autonomous Unmanned Systems, ICAUS 2022
国家/地区	中国
市	Xi'an
时期	23/09/22 → 25/09/22

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1007/978-981-99-0479-2_338

其它文件与链接

链接到 Scopus 的出版物

引用此

Qie, T., Wang, W., Yang, C., Li, Y., & Liu, W. (2023). A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm. 在 W. Fu, M. Gu, & Y. Niu (编辑), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022 (页码 3665-3675). (Lecture Notes in Electrical Engineering; 卷 1010 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0479-2_338

Qie, Tianqi ; Wang, Weida ; Yang, Chao 等. / A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm. Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. 编辑 / Wenxing Fu ; Mancang Gu ; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. 页码 3665-3675 (Lecture Notes in Electrical Engineering).

@inproceedings{9df037f99dd643f4ad608616eb51cb48,

title = "A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm",

abstract = "Autonomous flying vehicles are promising transportation of the future, which have the function of ground vehicles and low-altitude aircraft. To plan a feasible path effectively, an improved optimal rapidly-exploring random tree (RRT*) method is proposed. Firstly, a cost function considering driving efficiency and the energy consumption is established. Then, the cost of a known feasible path, which flies from the start point to the goal point directly, is calculated as a benchmark. According to the benchmark, the planning area is reduced to an elliptical area. The proposed method is verified by simulations with an actual cross-country environment. Results show that the computation time decreased by 11.3\% compared with the basic RRT* method.",

keywords = "Autonomous flying vehicles, Path planning, Rapidly-exploring random tree",

author = "Tianqi Qie and Weida Wang and Chao Yang and Ying Li and Wenjie Liu",

note = "Publisher Copyright: {\textcopyright} 2023, Beijing HIWING Sci. and Tech. Info Inst.; International Conference on Autonomous Unmanned Systems, ICAUS 2022 ; Conference date: 23-09-2022 Through 25-09-2022",

year = "2023",

doi = "10.1007/978-981-99-0479-2\_338",

language = "English",

isbn = "9789819904785",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "3665--3675",

editor = "Wenxing Fu and Mancang Gu and Yifeng Niu",

booktitle = "Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022",

address = "Germany",

}

Qie, T, Wang, W , Yang, C , Li, Y & Liu, W 2023, A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm. 在 W Fu, M Gu & Y Niu (编辑), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Lecture Notes in Electrical Engineering, 卷 1010 LNEE, Springer Science and Business Media Deutschland GmbH, 页码 3665-3675, International Conference on Autonomous Unmanned Systems, ICAUS 2022, Xi'an, 中国, 23/09/22. https://doi.org/10.1007/978-981-99-0479-2_338

A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm. / Qie, Tianqi; Wang, Weida ; Yang, Chao 等.
Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. 编辑 / Wenxing Fu; Mancang Gu; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. 页码 3665-3675 (Lecture Notes in Electrical Engineering; 卷 1010 LNEE).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm

AU - Qie, Tianqi

AU - Wang, Weida

AU - Yang, Chao

AU - Li, Ying

AU - Liu, Wenjie

PY - 2023

Y1 - 2023

N2 - Autonomous flying vehicles are promising transportation of the future, which have the function of ground vehicles and low-altitude aircraft. To plan a feasible path effectively, an improved optimal rapidly-exploring random tree (RRT*) method is proposed. Firstly, a cost function considering driving efficiency and the energy consumption is established. Then, the cost of a known feasible path, which flies from the start point to the goal point directly, is calculated as a benchmark. According to the benchmark, the planning area is reduced to an elliptical area. The proposed method is verified by simulations with an actual cross-country environment. Results show that the computation time decreased by 11.3% compared with the basic RRT* method.

AB - Autonomous flying vehicles are promising transportation of the future, which have the function of ground vehicles and low-altitude aircraft. To plan a feasible path effectively, an improved optimal rapidly-exploring random tree (RRT*) method is proposed. Firstly, a cost function considering driving efficiency and the energy consumption is established. Then, the cost of a known feasible path, which flies from the start point to the goal point directly, is calculated as a benchmark. According to the benchmark, the planning area is reduced to an elliptical area. The proposed method is verified by simulations with an actual cross-country environment. Results show that the computation time decreased by 11.3% compared with the basic RRT* method.

KW - Autonomous flying vehicles

KW - Path planning

KW - Rapidly-exploring random tree

UR - https://www.scopus.com/pages/publications/85151065150

U2 - 10.1007/978-981-99-0479-2_338

DO - 10.1007/978-981-99-0479-2_338

M3 - Conference contribution

AN - SCOPUS:85151065150

SN - 9789819904785

T3 - Lecture Notes in Electrical Engineering

SP - 3665

EP - 3675

BT - Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022

A2 - Fu, Wenxing

A2 - Gu, Mancang

A2 - Niu, Yifeng

PB - Springer Science and Business Media Deutschland GmbH

T2 - International Conference on Autonomous Unmanned Systems, ICAUS 2022

Y2 - 23 September 2022 through 25 September 2022

ER -

Qie T, Wang W , Yang C , Li Y, Liu W. A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm. 在 Fu W, Gu M, Niu Y, 编辑, Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Springer Science and Business Media Deutschland GmbH. 2023. 页码 3665-3675. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-0479-2_338

A Path Planning Method for Autonomous Flying Vehicles Using an Improved RRT* Algorithm

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此