3-D path planning for MAVs in urban environments
Zhaoying Zhou · Journal of Tsinghua University(Science and Technology) · 2006
An optimal autonomous path planning method was presented for micro air vehicles(MAVs) in a three-dimensional urban environment.A waypoint candidate net was formed using the Delaunay graphic to minimize the fuel usage(the length and altitude of the path) and the risk(the MAV loss probability) with an optimal 3-D path determined using Dijsktra arithmetic.The MAV trajectory was designed by smoothing the path according to the kinematics constraints of the MAV.A simulated mission scenario shows how the MAV successfully avoids colliding with buildings and other threatening objects.