A Dijkstra algorithm for fixed-wing UAV motion planning based on terrain elevation

Authors:
Felipe Leonardo Lôbo Medeiros;José Demisio Simões Da Silva
Affiliations:
Instituto de Estudos Avançados, São José dos Campos, São Paulo, Brasil;Instituto Nacional de Pesquisas Espaciais, São José dos Campos, São Paulo, Brasil
Venue:
SBIA'10 Proceedings of the 20th Brazilian conference on Advances in artificial intelligence
Year:
2010

Citing 2
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A mobius automation: an application of artificial intelligence techniques

IJCAI'69 Proceedings of the 1st international joint conference on Artificial intelligence
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance

Journal of Intelligent and Robotic Systems

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Abstract

The automatic motion or trajectory planning is essential for several tasks that lead to the autonomy increase of Unmanned Aerial Vehicles (UAVs). This work proposes a Dijkstra algorithm for fixed-wing UAVs trajectory planning. The navigation environments are represented by sets of visibility graphs constructed through the terrain elevations of these environments. Digital elevation models are used to represent the terrain elevations. A heuristics to verify if a trajectory is collision-free is also proposed in this work. This heuristics is a method of grid-based local search which presents linear computational time O(np), where np is the number of verification steps. This heuristics is compared with another method for collision verification. Results are presented in this work.