Turning Strategy based on Modified Dubins Algorithm for Unmanned Aerial Vehicle Dynamic Path Planning
H.H Triharminto, A.S Prabuwono, R. Sulaiman, N.A Setiawan, T.B Adji
Available Online January 2014.
- dynamic path planning; a moving target; turning strategy
- Path planning algorithm is compulsory for establishing autonomous Unmanned Aerial Vehicle (UAV). The dynamic path planning based on linear and Modified Dubins algorithm was introduced. The path planning is used for intercepting a moving target. In order to obtain optimum path, decision making has to be taken relating to turning strategy. Hence, this paper explains decision for turning strategy in the algorithm to obtain the optimum path. The decision is using degree rule as turning strategy. The decision making for turning strategy would be tested in a simulation. The simulation conducted using C++ language for calculation and convert into graph. The scenario of simulation is that a UAV flies to intercept a moving target and avoids random obstacle in cylindrical shape in between. The result shows that the turning strategy achieves optimum path which meets kinematic and safety constraints.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - H.H Triharminto AU - A.S Prabuwono AU - R. Sulaiman AU - N.A Setiawan AU - T.B Adji PY - 2014/01 DA - 2014/01 TI - Turning Strategy based on Modified Dubins Algorithm for Unmanned Aerial Vehicle Dynamic Path Planning BT - Proceedings of the 2013 International Conference on Advances in Intelligent Systems in Bioinformatics PB - Atlantis Press SP - 82 EP - 86 SN - 1951-6851 UR - https://www.atlantis-press.com/article/11362 ID - Triharminto2014/01 ER -