Real-time path planning in dynamic environments for unmanned aerial vehicles using the curve-shortening flow method
This article proposes a new algorithm for real-time path planning in dynamic environments based on space-discretized curve-shortening flows. The so-called curve-shortening flow method shares working principles with the well-established elastic bands method and overcomes some of its drawbacks concern...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881420968687 |
| Summary: | This article proposes a new algorithm for real-time path planning in dynamic environments based on space-discretized curve-shortening flows. The so-called curve-shortening flow method shares working principles with the well-established elastic bands method and overcomes some of its drawbacks concerning numerical robustness and parameterability. This is achieved by efficiently applying semi-implicit time integration for evolving the path and secondly by developing a methodology for setting the algorithm’s parameters based on physical quantities. Different short- and long-term validation scenarios are performed with three interlinked instances of the curve-shortening flow method each running on an individual industrial control and driving a real or a simulated unmanned aerial vehicle. |
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| ISSN: | 1729-8814 |