Point Cloud-Based Target-Oriented 3D Path Planning for UAVs

Abstract

This paper explores 3D path planning for unmanned aerial vehicles (UAVs) in 3D point cloud environments. Derivative maps such as dense point clouds, mesh maps, octomaps, etc. are frequently used for path planning purposes. A target-oriented 3D path planning algorithm, directly using point clouds to compute optimized trajectories for an UAV, is presented in this article. This approach searches for obstacle-free, low computational cost, smooth, and dynamically feasible paths by analyzing a point cloud of the target environment, using a modified connect RRTbased path planning algorithm, with a k-d tree based obstacle avoidance strategy and three-step optimization. This presented approach bypasses the common 3D map discretization, directly xi leveraging point cloud data. Following trajectory generation, the algorithm creates way-point based, closed loop quadrotor controls for pitch, roll, and yaw attitude angle as well as dynamics commands for the UAV. Simulations of UAV 3D path planning based on different target points in the point cloud map are presented, showing the effectiveness and feasibility of this approach. xii

İnsansız Hava Araçlarında Nokta Bulutu Verisi Kullanılarak İniş Pisti Uygunluk Analizi

“…Bu bakımdan bu çalışma, farklı ve özgün bir öneri sunmaktadır. Ayrıca, İHA'lardan alınan görüntülerden nokta bulutu yardımı ile önemli binaların üç boyutlu modellerinin oluşturulduğu, haritalama yapıldığı ve bu haritalardan yol planlama uygulamalarının yapıldığı çalışmalar da bulunmaktadır [36,37]. Ancak nokta bulutu ile iniş pistinin analiz edilerek engel bulunma durumuna bağlı bir şekilde inişe uygunluğunun değerlendirilmesi temelli bu çalışma literatür açısından farklılık oluşturmaktadır.…”

Real‐time collision‐free landing path planning for drone deliveries in urban environments

“…Extant studies have examined local path planning obstacle avoidance methods in which candidate paths are generated in advance, and the path of maximum cost is selected [20]. Other methods have applied RRT schemes [21,22].…”

Camera-Based Net Avoidance Controls of Underwater Robots

“…Velocity Obstacle (VO) methods can be utilized for collision evasion with moving obstacles [ 22 , 24 , 28 , 29 , 30 , 31 ]. References [ 31 , 32 , 33 ] considered collision avoidance in three-dimensional environments.…”