Motion planning algorithms for autonomous navigation for a rotary-wing UAV

[摘要] ENGLISH ABSTRACT: This project concerns motion planning for a rotary wing UAV, where vehicle controllers arealready in place, and map data is readily available to a collision detection module. In broadterms, the goal of the motion planning algorithm is to provide a safe (i.e. obstacle free)flight path between an initial- and goal waypoint. This project looks at two specific motionplanning algorithms, the Rapidly Exploring Random Tree (or RRT*), and the ProbabilisticRoadmap Method (or PRM).The primary focus of this project is learning how these algorithms behave in specific environmentsand an in depth analysis is done on their differences. A secondary focus is theexecution of planned paths via a Simulink simulation and lastly, this project also looks atthe effect of path replanning.The work done in this project enables a rotary wing UAV to autonomously navigate anuncertain, dynamic and cluttered environment. The work also provides insight into thechoice of an algorithm for a given environment: knowing which algorithm performs bettercan save valuable processing time and will make the entire system more responsive.

[发布机构] Stellenbosch University