Fast on-ship route planning using improved sparse A-star algorithm for UAVs

Xin Yang; Mingyue Ding; Chengping Zhou; Chao Cai; Qi Yu; Shuai Shao

doi:10.1117/12.833330

30 October 2009 Fast on-ship route planning using improved sparse A-star algorithm for UAVs

Xin Yang, Mingyue Ding, Chengping Zhou, Chao Cai, Qi Yu, Shuai Shao

Proceedings Volume 7497, MIPPR 2009: Medical Imaging, Parallel Processing of Images, and Optimization Techniques; 749705 (2009) https://doi.org/10.1117/12.833330
Event: Sixth International Symposium on Multispectral Image Processing and Pattern Recognition, 2009, Yichang, China

Abstract

This paper presented improved Sparse A-Star Search (SAS) algorithm to pursue a fast route planner for Unmanned Aerial Vehicles (UAVs) on-ship applications. Our approach can quickly produce 3-D trajectories composed by a set of successive navigation points from certain known initial locations to predetermined target locations. The result routes are not only ensuring collision avoidance with the environmental obstacles, but also satisfying specific routes constraints and objectives. The experiment results demonstrated the feasibility of the method, which makes our route planner be more useful in real systems.

Citation Download Citation

Xin Yang, Mingyue Ding, Chengping Zhou, Chao Cai, Qi Yu, and Shuai Shao "Fast on-ship route planning using improved sparse A-star algorithm for UAVs", Proc. SPIE 7497, MIPPR 2009: Medical Imaging, Parallel Processing of Images, and Optimization Techniques, 749705 (30 October 2009); https://doi.org/10.1117/12.833330

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