SIA OpenIR  > 机器人学研究室
3D environment modeling with height dimension reduction and path planning for UAV
Lv Z(吕哲)1,2; Yang LY(杨丽英)1; He YQ(何玉庆)1; Liu Z(刘重)1; Han ZH(韩忠华)1,2
Department机器人学研究室
Conference Name9th International Conference on Modelling, Identification and Control, ICMIC 2017
Conference DateJuly 10-12, 2017
Conference PlaceKunming, China
Source PublicationProceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages734-739
Indexed ByEI
EI Accession number20183105620931
Contribution Rank1
ISBN978-1-5090-6573-8
KeywordEnvironment modeling Path planning Grid method A* algorithm
AbstractIn this paper, an environment modeling method with height dimension reduction for unmanned aerial vehicle (UAV) path planning is presented. Based on the traditional grid method, a plane being vertical to yz-plane and including the start point and end point is considered in this method. Comparing the height of this plane and obstacles, the environment model could be set up through re-dividing the plane by grid method. Above idea reduces the dimension of the 3D environment model and ignores the obstacles which are lower than the flying height of UAV. In this way, the accuracy of the proposed environment model method could be increased, and the efficiency of the path planning algorithm could be ensured further. Simulation experiment shows the effectiveness of this environment modeling method by applying A algorithm for path planning.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22352
Collection机器人学研究室
Corresponding AuthorLv Z(吕哲)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Faculty of Information and Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China
Recommended Citation
GB/T 7714
Lv Z,Yang LY,He YQ,et al. 3D environment modeling with height dimension reduction and path planning for UAV[C]. New York:IEEE,2017:734-739.
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