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A rapid method for planning paths in three dimensions for a small aerial robot

Published online by Cambridge University Press:  01 March 2001

M. Williams  and
D.I. Jones
M. Williams
Affiliation:
School of Informatics, University of Wales, Dean Street, Bangor, Gwynedd LL57 1UT, UK
D.I. Jones
Affiliation:
School of Informatics, University of Wales, Dean Street, Bangor, Gwynedd LL57 1UT, UK
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Abstract

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This paper describes a path planning method for a small autonomous aerial vehicle to be used for inspecting overhead electricity power lines. A computational algorithm is described which converts a standard three dimensional array representation of one or more obstacles in the vehicle's environment into an octree and a connectivity graph. This achieves a significant reduction in computer memory usage and an increase in execution speed when the graph is searched. Path planning is based on a three-dimensional extension of the distance transform. Test results demonstrate rapid and effective operation of the planner within different workspaces.

Keywords

Aerial robotPath planningThree dimensionsDistance transform
Type
Research Article
Information
Robotica , Volume 19 , Issue 2 , March 2001 , pp. 125 - 135
Copyright
© 2001 Cambridge University Press