A Grid-Based Path Planning Approach for a Team of Two Vehicles with Localization Constraints Conference Paper

abstract

• 2017 IEEE. This paper proposes a path finding method for two unmanned aerial vehicles with localization constraints using a modified shortest path algorithm. A beacon vehicle has GPS or other absolute positioning information, and a target vehicle has only bearing information taken relative to the beacon vehicle or known stationary landmarks. By overlaying a grid on the map and discretizing the position uncertainty, the path planning problem for two vehicles can be formulated as a dynamic programming problem and solved using a modified form of the A shortest path algorithm. Edge costs are found using a factored covariance method for an Extended Kalman filter based on results available in literature. In simulation, paths found from the dynamic programming method outperform a greedy algorithm.

name of conference

• 2017 International Conference on Unmanned Aircraft Systems (ICUAS)

authors

• Rathinam, Sivakumar

published proceedings

• 2017 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'17)

author list (cited authors)

• Garber, M., Rathinam, S., & Sharma, R.

citation count

• 1

complete list of authors

• Garber, Mark||Rathinam, Sivakumar||Sharma, Rajnikant

publication date

• June 2017

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• n2373-6720ISSN  Journal

keywords

• 7 Affordable And Clean Energy

Digital Object Identifier (DOI)

• 10.1109/icuas.2017.7991489

International Standard Book Number (ISBN) 13

• 9781509044948

URI

• https://hdl.handle.net/1969.1/166083

start page

• 516

end page

• 523

URL

• http://dx.doi.org/10.1109/icuas.2017.7991489

user-defined tag

• 7 Affordable and Clean Energy