An A*-EC hybrid path planning method for waypoint traveling problem considering terrain

Katsushi Mitsutake, Shin Ichiro Higashino

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

9 被引用数 (Scopus)

抄録

This paper proposes an A* algorithm - EC hybrid path planning method which can find out a suboptimal path quickly for a waypoint traveling problem with terrain and obstacles. In this method, A * algorithm searches optimal legs between all two waypoints while avoiding terrain and obstacles, and Evolutionary Computation (EC) tries to combine these legs into an optimal path. The authors apply this method to 30 waypoint traveling problem with terrain and 3 obstacles, and the simulation results show that calculation time is less than 6 seconds on average. Furthermore, we have confirmed that we can use this method in real time by using the real time simulator with the on-board computer for path planning which is planned to be used for flight testing.

本文言語英語
ホスト出版物のタイトルAIAA Guidance, Navigation and Control Conference and Exhibit
出版社American Institute of Aeronautics and Astronautics Inc.
ISBN(印刷版)9781563479458
DOI
出版ステータス出版済み - 1 1 2008

出版物シリーズ

名前AIAA Guidance, Navigation and Control Conference and Exhibit

All Science Journal Classification (ASJC) codes

  • 航空宇宙工学
  • 制御およびシステム工学

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引用スタイル