A rapid method for planning paths in three dimensions for a small aerial robot

Authors:
M. Williams;D. I. Jones
Affiliations:
School of Informatics, University of Wales, Dean Street, Bangor, Gwynedd LL57 1UT, UK;School of Informatics, University of Wales, Dean Street, Bangor, Gwynedd LL57 1UT, UK
Venue:
Robotica
Year:
2001

Citing 1
Cited 1

Robot Motion Planning

Robot Motion Planning

Development of a configuration space motion planner for robot in dynamic environment

Robotics and Computer-Integrated Manufacturing

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Abstract

This paper describes a path planning method for a small autonomous aerial vehicle to be used for inspecting overhead electricity power lines. A computational algorithm is described which converts a standard three dimensional array representation of one or more obstacles in the vehicle's environment into an octree and a connectivity graph. This achieves a significant reduction in computer memory usage and an increase in execution speed when the graph is searched. Path planning is based on a three-dimensional extension of the distance transform. Test results demonstrate rapid and effective operation of the planner within different workspaces.