3 Travel Path Planning Method of Aerial Vehicles in 3-dimensional Environment
The present invention relates to a method for planning an aerial vehicle movement route in a three-dimensional environment. According to the present invention, successful collision avoidance is performed in relation to a collision of an aerial vehicle using a boundary-RRT* algorithm for avoiding the...
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| Format: | Patent |
| Sprache: | eng ; kor |
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| Zusammenfassung: | The present invention relates to a method for planning an aerial vehicle movement route in a three-dimensional environment. According to the present invention, successful collision avoidance is performed in relation to a collision of an aerial vehicle using a boundary-RRT* algorithm for avoiding the collision of the aerial vehicle and for re-planning a route in a three-dimensional environment. Also, a new route point can be generated to re-plan a route, and the load of calculation is minimized and real-time performance is improved by simplifying the calculation and limiting a search area of a configuration space. Accordingly, the method of the present invention is advantageous in collision avoidance between various aerial vehicles and re-planning of a local route.
본 발명은 3차원 환경에서의 항공 차량 이동노선 계획 방법에 관한 것으로, 3차원 환경에서 항공 차량의 충돌회피와 경로를 재 계획하기 위한 Boundary-RRT* 알고리즘을 이용하여 항공 차량의 충돌과 관련하여 성공적인 충돌회피를 수행하였으며 새로운 경로 점을 생성하여 경로를 재 계획을 할 수 있으며 계산의 단순성과 구성 공간의 탐색 영역을 한정(boundary) 함으로써 계산의 부하를 최소화하고 실시간 성능을 향상시켜 다양한 항공 차량 간의 충돌회피와 지역 경로의 재 계획에 유리한 3차원 환경에서의 항공 차량 이동노선 계획 방법을 제공한다. |
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