Multiresolution On-Line Path Planning for Small Unmanned Aerial Vehicles
Author(s)
Jung, Dongwon
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Abstract
In this article we propose a new online multiresolution
path planning algorithm for a small unmanned air
vehicle (UAV) with limited on-board computational resources.
The proposed approach assumes that the UAV has detailed
information of the environment only in the vicinity of its current
position. Information about far away obstacles is also available,
albeit with less accuracy. The proposed algorithm uses an
integer arithmetic implementation of the fast lifting wavelet
transform (FLWT) to get a multiresolution cell decomposition of
the environment, whose dimension is commensurate to the on-board
computational resources. A topological graph representation
of the multiresolution cell decomposition is constructed
efficiently, directly from the approximation and detail wavelet
coefficients. Hardware-in-the-loop simulation (HILS) results
validate the applicability of the algorithm on a small UAV
autopilot. Comparisons with the standard D∗-lite algorithm are
also presented.
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Date
2008
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Text
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Post-print