RRT-based 3D Path Planning for Formation Landing of Quadrotor

Yiqun  Dong; Changhong Fu; Erdal Kayacan

doi:10.1109/ICARCV.2016.7838567

RRT-based 3D Path Planning for Formation Landing of Quadrotor

Yiqun Dong, Changhong Fu, Erdal Kayacan

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

23 Citations (Scopus)

Abstract

This paper discusses the formation landing problem of quadrotor UAVs, which is considered as a UAV leader-follower problem, avoiding static obstacles. Rapidly-exploring random tree algorithm is used to generate the path for the leader UAV firstly. In particular, specifics of tree-grow including nodes selection, parent node connection, feasible and optimal path generation are explained. Given the leader UAV position, path finding for the follower UAV is conducted to avoid both static obstacles and the leader quadrotor. Based on the intensive simulations, which are conducted in ROS-Gazebo environment, the proposed framework is considered to be applicable in real-time formation landing of quadrotor UAVs.

Original language	English
Title of host publication	2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Number of pages	6
Publisher	IEEE
Publication date	Nov 2016
Pages	1-6
Article number	7838567
ISBN (Print)	978-1-5090-3549-6
ISBN (Electronic)	9781509035496
DOIs	https://doi.org/10.1109/ICARCV.2016.7838567
Publication status	Published - Nov 2016
Externally published	Yes
Event	14th International Conference on Control, Automation, Robotics and Vision - Duangjitt Resort & Spa, Phuket, Thailand Duration: 13 Nov 2016 → 15 Nov 2016 http://icarcv.org/2016/home.asp

Conference

Conference	14th International Conference on Control, Automation, Robotics and Vision
Location	Duangjitt Resort & Spa
Country/Territory	Thailand
City	Phuket
Period	13/11/2016 → 15/11/2016
Internet address	http://icarcv.org/2016/home.asp

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10.1109/ICARCV.2016.7838567

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7838567

Cite this

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title = "RRT-based 3D Path Planning for Formation Landing of Quadrotor",

abstract = "This paper discusses the formation landing problem of quadrotor UAVs, which is considered as a UAV leader-follower problem, avoiding static obstacles. Rapidly-exploring random tree algorithm is used to generate the path for the leader UAV firstly. In particular, specifics of tree-grow including nodes selection, parent node connection, feasible and optimal path generation are explained. Given the leader UAV position, path finding for the follower UAV is conducted to avoid both static obstacles and the leader quadrotor. Based on the intensive simulations, which are conducted in ROS-Gazebo environment, the proposed framework is considered to be applicable in real-time formation landing of quadrotor UAVs.",

author = "Yiqun Dong and Changhong Fu and Erdal Kayacan",

year = "2016",

month = nov,

doi = "10.1109/ICARCV.2016.7838567",

language = "English",

isbn = "978-1-5090-3549-6",

pages = "1--6",

booktitle = "2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016",

publisher = "IEEE ",

note = "14th International Conference on Control, Automation, Robotics and Vision ; Conference date: 13-11-2016 Through 15-11-2016",

url = "http://icarcv.org/2016/home.asp",

}

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T1 - RRT-based 3D Path Planning for Formation Landing of Quadrotor

AU - Dong, Yiqun

AU - Fu, Changhong

AU - Kayacan, Erdal

PY - 2016/11

Y1 - 2016/11

N2 - This paper discusses the formation landing problem of quadrotor UAVs, which is considered as a UAV leader-follower problem, avoiding static obstacles. Rapidly-exploring random tree algorithm is used to generate the path for the leader UAV firstly. In particular, specifics of tree-grow including nodes selection, parent node connection, feasible and optimal path generation are explained. Given the leader UAV position, path finding for the follower UAV is conducted to avoid both static obstacles and the leader quadrotor. Based on the intensive simulations, which are conducted in ROS-Gazebo environment, the proposed framework is considered to be applicable in real-time formation landing of quadrotor UAVs.

AB - This paper discusses the formation landing problem of quadrotor UAVs, which is considered as a UAV leader-follower problem, avoiding static obstacles. Rapidly-exploring random tree algorithm is used to generate the path for the leader UAV firstly. In particular, specifics of tree-grow including nodes selection, parent node connection, feasible and optimal path generation are explained. Given the leader UAV position, path finding for the follower UAV is conducted to avoid both static obstacles and the leader quadrotor. Based on the intensive simulations, which are conducted in ROS-Gazebo environment, the proposed framework is considered to be applicable in real-time formation landing of quadrotor UAVs.

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U2 - 10.1109/ICARCV.2016.7838567

DO - 10.1109/ICARCV.2016.7838567

M3 - Article in proceedings

SN - 978-1-5090-3549-6

SP - 1

EP - 6

BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

PB - IEEE

T2 - 14th International Conference on Control, Automation, Robotics and Vision

Y2 - 13 November 2016 through 15 November 2016

ER -

RRT-based 3D Path Planning for Formation Landing of Quadrotor

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