A minimum-time obstacle-avoidance path planning algorithm for unmanned aerial vehicles
In this article, we present a new strategy to determine an unmanned aerial vehicle trajectory that minimizes its flight time in presence of avoidance areas and obstacles. The method combines classical results from optimal control theory, i.e. the Euler-Lagrange Theorem and the Pontryagin Minimum Pri...
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| Published in | Numerical algorithms Vol. 89; no. 4; pp. 1639 - 1661 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
Springer US
01.04.2022
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1017-1398 1572-9265 1572-9265 |
| DOI | 10.1007/s11075-021-01167-w |
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| Abstract | In this article, we present a new strategy to determine an unmanned aerial vehicle trajectory that minimizes its flight time in presence of avoidance areas and obstacles. The method combines classical results from optimal control theory, i.e. the Euler-Lagrange Theorem and the Pontryagin Minimum Principle, with a continuation technique that dynamically adapts the solution curve to the presence of obstacles. We initially consider the two-dimensional path planning problem and then move to the three-dimensional one, and include numerical illustrations for both cases to show the efficiency of our approach. |
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| AbstractList | In this article, we present a new strategy to determine an unmanned aerial vehicle trajectory that minimizes its flight time in presence of avoidance areas and obstacles. The method combines classical results from optimal control theory, i.e. the Euler-Lagrange Theorem and the Pontryagin Minimum Principle, with a continuation technique that dynamically adapts the solution curve to the presence of obstacles. We initially consider the two-dimensional path planning problem and then move to the three-dimensional one, and include numerical illustrations for both cases to show the efficiency of our approach. |
| Author | Mazzia, Francesca De Marinis, Arturo Iavernaro, Felice |
| Author_xml | – sequence: 1 givenname: Arturo surname: De Marinis fullname: De Marinis, Arturo organization: Dipartimento di Matematica, Università di Bari – sequence: 2 givenname: Felice orcidid: 0000-0002-9716-7370 surname: Iavernaro fullname: Iavernaro, Felice email: felice.iavernaro@uniba.it organization: Dipartimento di Matematica, Università di Bari – sequence: 3 givenname: Francesca orcidid: 0000-0003-1072-9578 surname: Mazzia fullname: Mazzia, Francesca organization: Dipartimento di Informatica, Università di Bari |
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| Cites_doi | 10.1142/S2301385018400022 10.1016/j.comcom.2019.10.014 10.1007/s10444-014-9390-z 10.7494/OpMath.2014.34.2.387 10.1016/j.apnum.2008.03.036 10.1007/BF02071065 10.1016/j.cam.2005.01.016 10.1007/s00009-006-0085-7 10.1080/00423114.2018.1480048 10.1137/16M1062569 10.1137/18M1219382 10.1504/IJCSM.2007.013763 10.1145/2427023.2427032 10.1541/ieejjia.5.154 10.1063/1.4912313 10.1016/j.cja.2015.06.014 10.1109/IMCEC.2018.8469312 10.1109/WCICA.2014.7053093 10.1201/b19319 10.1007/978-1-4614-8945-0 10.1007/978-90-481-9981-5_2 10.1007/978-3-642-28070-2 10.2514/4.867798 10.1109/ETCM.2017.8247533 10.1109/ICCEREC.2015.7337041 10.1109/ISKE.2017.8258825 10.23919/ICCAS.2017.8204468 10.23919/ChiCC.2018.8483665 10.1515/9783110249996 10.1109/CDC.2011.6160385 10.1016/j.amc.2014.08.046 |
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| Keywords | 65L04 Obstacle avoidance Pontryagin minimum principle Continuation technique Minimum-time trajectory Path planning UAV 49M25 65L10 |
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| References | Cash, Mazzia (CR35) 2005; 184 Yao, Wang, Su (CR12) 2015; 28 Mazzia, Cash (CR28) 2015; 1648 Mazzia, Cash, Soetaert (CR29) 2014; 34 Kelly (CR15) 2017; 59 Cash, Mazzia (CR25) 2009; 10 CR17 CR16 Aggarwal, Kumar (CR1) 2020; 149 CR36 CR13 CR34 CR11 Martens, Gerdts (CR31) 2020; 58 CR10 Cash, Hollevoet, Mazzia, Nagy (CR26) 2013; 39 Manni, Mazzia, Sestini, Speleers (CR24) 2015; 255 Amodio, Iavernaro (CR19) 2006; 3 CR4 CR3 CR6 CR5 Von Stryk, Bulirsch (CR14) 1992; 37 CR8 CR7 CR9 CR27 Radmanesh, Kumar, Guentert, Sarim (CR2) 2018; 6 Dal Bianco, Bertolazzi, Biral, Massaro (CR33) 2019; 57 CR23 CR20 Biral, Bertolazzi, Bosetti (CR32) 2016; 5 Mazzia, Sestini, Trigiante (CR22) 2009; 59 Amodio, Brugnano, Iavernaro (CR18) 2015; 41 Capper, Cash, Mazzia (CR21) 2007; 1 Cash, Mazzia (CR30) 2006; 1 JR Cash (1167_CR26) 2013; 39 M Kelly (1167_CR15) 2017; 59 1167_CR4 1167_CR3 M Radmanesh (1167_CR2) 2018; 6 1167_CR8 1167_CR36 1167_CR7 B Martens (1167_CR31) 2020; 58 1167_CR6 1167_CR16 1167_CR5 P Yao (1167_CR12) 2015; 28 1167_CR17 S Aggarwal (1167_CR1) 2020; 149 1167_CR9 1167_CR10 1167_CR11 1167_CR34 1167_CR13 N Dal Bianco (1167_CR33) 2019; 57 F Mazzia (1167_CR28) 2015; 1648 O Von Stryk (1167_CR14) 1992; 37 F Mazzia (1167_CR22) 2009; 59 JR Cash (1167_CR25) 2009; 10 JR Cash (1167_CR30) 2006; 1 P Amodio (1167_CR19) 2006; 3 1167_CR27 JR Cash (1167_CR35) 2005; 184 1167_CR20 F Mazzia (1167_CR29) 2014; 34 P Amodio (1167_CR18) 2015; 41 1167_CR23 S Capper (1167_CR21) 2007; 1 C Manni (1167_CR24) 2015; 255 F Biral (1167_CR32) 2016; 5 |
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| Snippet | In this article, we present a new strategy to determine an unmanned aerial vehicle trajectory that minimizes its flight time in presence of avoidance areas and... |
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| SubjectTerms | Algebra Algorithms Boundary conditions Boundary value problems Computer Science Computer simulation Control theory Dynamical systems Energy consumption Flight time Numeric Computing Numerical Analysis Obstacle avoidance Optimal control Optimization Ordinary differential equations Original Paper Path planning Theory of Computation Unmanned aerial vehicles Variables |
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| Title | A minimum-time obstacle-avoidance path planning algorithm for unmanned aerial vehicles |
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