Path planning for unmanned aerial vehicles using visibility line-based methods

This thesis concerns the development of path planning algorithms for unmanned aerial vehicles (UAVs) to avoid obstacles in two- (2D) and three-dimensional (3D) urban environments based on the visibility graph (VG) method. As VG uses all nodes (vertices) in the environments, it is computationally exp...

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Main Author:	Omar, Rosli
Format:	Thesis
Language:	English
Published:	2011
Subjects:	TL Motor vehicles Aeronautics Astronautics
Online Access:	http://eprints.uthm.edu.my/3083/1/24p%20ROSLI%20OMAR.pdf
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id	my-uthm-ep.3083
record_format	uketd_dc
spelling	my-uthm-ep.30832021-11-02T01:52:02Z Path planning for unmanned aerial vehicles using visibility line-based methods 2011-03 Omar, Rosli TL Motor vehicles. Aeronautics. Astronautics TL500-777 Aeronautics. Aeronautical engineering This thesis concerns the development of path planning algorithms for unmanned aerial vehicles (UAVs) to avoid obstacles in two- (2D) and three-dimensional (3D) urban environments based on the visibility graph (VG) method. As VG uses all nodes (vertices) in the environments, it is computationally expensive. The proposed 2D path planning algorithms, on the contrary, select a relatively smaller number of vertices using the so-called base line (BL), thus they are computationally efficient. The computational efficiency of the proposed algorithms is further improved by limiting the BL’s length, which results in an even smaller number of vertices. Simulation results have proven that the proposed 2D path planning algorithms are much faster in comparison with the VG and hence are suitable for real time path planning applications. While vertices can be explicitly defined in 2D environments using VG, it is difficult to determine them in 3D as they are infinite in number at each obstacle’s border edge. This issue is tackled by using the so-called plane rotation approach in the proposed 3D path planning algorithms where the vertices are the intersection points between a plane rotated by certain angles and obstacles edges. In order to ensure that the 3D path planning algorithms are computationally efficient, the proposed 2D path planning algorithms are applied into them. In addition, a software package using Matlab for 2D and 3D path planning has also been developed. The package is designed to be easy to use as well as user-friendly with step-by-step instructions. 2011-03 Thesis http://eprints.uthm.edu.my/3083/ http://eprints.uthm.edu.my/3083/1/24p%20ROSLI%20OMAR.pdf text en public phd doctoral University of Leicester Department of Engineering
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English
topic	TL Motor vehicles Aeronautics Astronautics TL Motor vehicles Aeronautics Astronautics
spellingShingle	TL Motor vehicles Aeronautics Astronautics TL Motor vehicles Aeronautics Astronautics Omar, Rosli Path planning for unmanned aerial vehicles using visibility line-based methods
description	This thesis concerns the development of path planning algorithms for unmanned aerial vehicles (UAVs) to avoid obstacles in two- (2D) and three-dimensional (3D) urban environments based on the visibility graph (VG) method. As VG uses all nodes (vertices) in the environments, it is computationally expensive. The proposed 2D path planning algorithms, on the contrary, select a relatively smaller number of vertices using the so-called base line (BL), thus they are computationally efficient. The computational efficiency of the proposed algorithms is further improved by limiting the BL’s length, which results in an even smaller number of vertices. Simulation results have proven that the proposed 2D path planning algorithms are much faster in comparison with the VG and hence are suitable for real time path planning applications. While vertices can be explicitly defined in 2D environments using VG, it is difficult to determine them in 3D as they are infinite in number at each obstacle’s border edge. This issue is tackled by using the so-called plane rotation approach in the proposed 3D path planning algorithms where the vertices are the intersection points between a plane rotated by certain angles and obstacles edges. In order to ensure that the 3D path planning algorithms are computationally efficient, the proposed 2D path planning algorithms are applied into them. In addition, a software package using Matlab for 2D and 3D path planning has also been developed. The package is designed to be easy to use as well as user-friendly with step-by-step instructions.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Omar, Rosli
author_facet	Omar, Rosli
author_sort	Omar, Rosli
title	Path planning for unmanned aerial vehicles using visibility line-based methods
title_short	Path planning for unmanned aerial vehicles using visibility line-based methods
title_full	Path planning for unmanned aerial vehicles using visibility line-based methods
title_fullStr	Path planning for unmanned aerial vehicles using visibility line-based methods
title_full_unstemmed	Path planning for unmanned aerial vehicles using visibility line-based methods
title_sort	path planning for unmanned aerial vehicles using visibility line-based methods
granting_institution	University of Leicester
granting_department	Department of Engineering
publishDate	2011
url	http://eprints.uthm.edu.my/3083/1/24p%20ROSLI%20OMAR.pdf
_version_	1747831016750317568

Path planning for unmanned aerial vehicles using visibility line-based methods

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