Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV

Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV

Exploring large, unknown, and unstructured environments is challenging for Unmanned Aerial Vehicles (UAVs), but they are valuable tools to inspect large structures safely and efficiently. The Lazy Theta* path-planning algorithm is revisited and adapted to generate paths fast enough to be used in rea...

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Bibliographic Details
Main Authors: Margarida Faria, Ricardo Marín, Marija Popović, Ivan Maza, Antidio Viguria
Format: Article
Language:English
Published: MDPI AG 2019-01-01
Series:Sensors
Subjects:
path planning
UAV
autonomous exploration
sparse grids
Lazy Theta*
Online Access:http://www.mdpi.com/1424-8220/19/1/174

Internet

http://www.mdpi.com/1424-8220/19/1/174

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