Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding Algorithms
Multirotor Unmanned Aerial Vehicles (UAVs) play an imperative role in many real-world applications in a variety of scenarios characterized by a high density of obstacles with different heights. Due to the complicated operation areas of UAVs and complex constraints associated with the assigned missio...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-04-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/7/2460 |
| _version_ | 1797539055211118592 |
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| author | Haitham AL Satai Musaddak M. Abdul Zahra Zaid I. Rasool Ridhab Sami Abd-Ali Catalin I. Pruncu |
| author_facet | Haitham AL Satai Musaddak M. Abdul Zahra Zaid I. Rasool Ridhab Sami Abd-Ali Catalin I. Pruncu |
| author_sort | Haitham AL Satai |
| collection | DOAJ |
| description | Multirotor Unmanned Aerial Vehicles (UAVs) play an imperative role in many real-world applications in a variety of scenarios characterized by a high density of obstacles with different heights. Due to the complicated operation areas of UAVs and complex constraints associated with the assigned mission, there should be a suitable path to fly. Therefore, the most relevant challenge is how to plan a flyable path for a UAV without collisions with obstacles. This paper demonstrates how a flyable and continuous trajectory was constructed by using any-angle pathfinding algorithms, which are Basic Theta*, Lazy Theta*, and Phi* algorithms for a multirotor UAV in a cluttered environment. The three algorithms were modified by adopting a modified cost function during their implementation that considers the elevation of nodes. First, suitable paths are generated by using a modified version of the three algorithms. After that, four Bézier curves-based approaches are proposed to smooth the generated paths to be converted to flyable paths (trajectories). To determine the most suitable approach, particularly when searching for an optimal and collision-free trajectory design, an innovative evaluation process is proposed and applied in a variety of different size environments. The evaluation process results show high success rates of the four approaches; however, the approach with the highest success rate is adopted. Finally, based on the results of the evaluation process, a novel algorithm is proposed to increase the efficiency of the selected approach to the optimality in the construction process of the trajectory. |
| first_indexed | 2024-03-10T12:40:00Z |
| format | Article |
| id | doaj.art-c8171d1675a54d3ca3ec65150302a798 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T12:40:00Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-c8171d1675a54d3ca3ec65150302a7982023-11-21T13:58:10ZengMDPI AGSensors1424-82202021-04-01217246010.3390/s21072460Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding AlgorithmsHaitham AL Satai0Musaddak M. Abdul Zahra1Zaid I. Rasool2Ridhab Sami Abd-Ali3Catalin I. Pruncu4School of Electronics Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaComputer Techniques Engineering Department, Al-Mustaqbal University College, Babylon 51001, IraqComputer Techniques Engineering Department, Al-Mustaqbal University College, Babylon 51001, IraqComputer Techniques Engineering Department, Al-Mustaqbal University College, Babylon 51001, IraqDepartment of Mechanical Engineering, Imperial Colle London, Exhibition Rd., London SW7 2AZ, UKMultirotor Unmanned Aerial Vehicles (UAVs) play an imperative role in many real-world applications in a variety of scenarios characterized by a high density of obstacles with different heights. Due to the complicated operation areas of UAVs and complex constraints associated with the assigned mission, there should be a suitable path to fly. Therefore, the most relevant challenge is how to plan a flyable path for a UAV without collisions with obstacles. This paper demonstrates how a flyable and continuous trajectory was constructed by using any-angle pathfinding algorithms, which are Basic Theta*, Lazy Theta*, and Phi* algorithms for a multirotor UAV in a cluttered environment. The three algorithms were modified by adopting a modified cost function during their implementation that considers the elevation of nodes. First, suitable paths are generated by using a modified version of the three algorithms. After that, four Bézier curves-based approaches are proposed to smooth the generated paths to be converted to flyable paths (trajectories). To determine the most suitable approach, particularly when searching for an optimal and collision-free trajectory design, an innovative evaluation process is proposed and applied in a variety of different size environments. The evaluation process results show high success rates of the four approaches; however, the approach with the highest success rate is adopted. Finally, based on the results of the evaluation process, a novel algorithm is proposed to increase the efficiency of the selected approach to the optimality in the construction process of the trajectory.https://www.mdpi.com/1424-8220/21/7/2460path planningtrajectory planningBasic Theta*Lazy Theta*Phi*Bézier curves |
| spellingShingle | Haitham AL Satai Musaddak M. Abdul Zahra Zaid I. Rasool Ridhab Sami Abd-Ali Catalin I. Pruncu Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding Algorithms Sensors path planning trajectory planning Basic Theta* Lazy Theta* Phi* Bézier curves |
| title | Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding Algorithms |
| title_full | Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding Algorithms |
| title_fullStr | Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding Algorithms |
| title_full_unstemmed | Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding Algorithms |
| title_short | Bézier Curves-Based Optimal Trajectory Design for Multirotor UAVs with Any-Angle Pathfinding Algorithms |
| title_sort | bezier curves based optimal trajectory design for multirotor uavs with any angle pathfinding algorithms |
| topic | path planning trajectory planning Basic Theta* Lazy Theta* Phi* Bézier curves |
| url | https://www.mdpi.com/1424-8220/21/7/2460 |
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