Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm
A suitable trajectory in a port inspection mission is important for unmanned aerial vehicles (UAVs). Motion planning can help UAVs quickly generate an optimal trajectory that meets the constraints. The motion planning of UAVs is achieved in this paper as follows: firstly, a collision detection (CD)...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/4/702 |
| _version_ | 1797604819800686592 |
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| author | Gang Tang Pengfei Liu Zhipeng Hou Christophe Claramunt Peipei Zhou |
| author_facet | Gang Tang Pengfei Liu Zhipeng Hou Christophe Claramunt Peipei Zhou |
| author_sort | Gang Tang |
| collection | DOAJ |
| description | A suitable trajectory in a port inspection mission is important for unmanned aerial vehicles (UAVs). Motion planning can help UAVs quickly generate an optimal trajectory that meets the constraints. The motion planning of UAVs is achieved in this paper as follows: firstly, a collision detection (CD) function is applied that evaluates whether the bias_RRT* (rapidly exploring random tree) algorithm needs to be called. Secondly, an isosceles triangle optimization function optimizes the path. Next, a trajectory is generated based on the minimum snap trajectory method. Lastly, the bias_RRT* algorithm and the improved bias_RRT* algorithm are used in the two experimental scenes for path planning comparison, and trajectory planning is carried out. The results show that, in the improved method, the path length and calculation time are shortened, and the trajectory cost and trajectory deviation are also significantly reduced. Overall, it appears that a camera-equipped UAV under the proposed approach can accomplish monitoring tasks more effectively and safety in port environment. |
| first_indexed | 2024-03-11T04:52:10Z |
| format | Article |
| id | doaj.art-97b08c61e7544b16b83068ef483e828e |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T04:52:10Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-97b08c61e7544b16b83068ef483e828e2023-11-17T19:54:49ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-03-0111470210.3390/jmse11040702Motion Planning of UAV for Port Inspection Based on Extended RRT* AlgorithmGang Tang0Pengfei Liu1Zhipeng Hou2Christophe Claramunt3Peipei Zhou4Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, ChinaLogistics Engineering College, Shanghai Maritime University, Shanghai 201306, ChinaLogistics Engineering College, Shanghai Maritime University, Shanghai 201306, ChinaNaval Academy, Brest Naval, Lanveoc-Poulmic, BP 600, 29240 Brest Naval, FranceSchool of Mechatronic Engineering, Guangdong Polytechnic Normal University, Guangzhou 510665, ChinaA suitable trajectory in a port inspection mission is important for unmanned aerial vehicles (UAVs). Motion planning can help UAVs quickly generate an optimal trajectory that meets the constraints. The motion planning of UAVs is achieved in this paper as follows: firstly, a collision detection (CD) function is applied that evaluates whether the bias_RRT* (rapidly exploring random tree) algorithm needs to be called. Secondly, an isosceles triangle optimization function optimizes the path. Next, a trajectory is generated based on the minimum snap trajectory method. Lastly, the bias_RRT* algorithm and the improved bias_RRT* algorithm are used in the two experimental scenes for path planning comparison, and trajectory planning is carried out. The results show that, in the improved method, the path length and calculation time are shortened, and the trajectory cost and trajectory deviation are also significantly reduced. Overall, it appears that a camera-equipped UAV under the proposed approach can accomplish monitoring tasks more effectively and safety in port environment.https://www.mdpi.com/2077-1312/11/4/702port inspectionbias_RRT* algorithmisosceles triangle optimizationminimum snap trajectory |
| spellingShingle | Gang Tang Pengfei Liu Zhipeng Hou Christophe Claramunt Peipei Zhou Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm Journal of Marine Science and Engineering port inspection bias_RRT* algorithm isosceles triangle optimization minimum snap trajectory |
| title | Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm |
| title_full | Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm |
| title_fullStr | Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm |
| title_full_unstemmed | Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm |
| title_short | Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm |
| title_sort | motion planning of uav for port inspection based on extended rrt algorithm |
| topic | port inspection bias_RRT* algorithm isosceles triangle optimization minimum snap trajectory |
| url | https://www.mdpi.com/2077-1312/11/4/702 |
| work_keys_str_mv | AT gangtang motionplanningofuavforportinspectionbasedonextendedrrtalgorithm AT pengfeiliu motionplanningofuavforportinspectionbasedonextendedrrtalgorithm AT zhipenghou motionplanningofuavforportinspectionbasedonextendedrrtalgorithm AT christopheclaramunt motionplanningofuavforportinspectionbasedonextendedrrtalgorithm AT peipeizhou motionplanningofuavforportinspectionbasedonextendedrrtalgorithm |