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A Fast Trajectory Planning Method for UAV Base on PRM

Lincheng Shen

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Abstract

A fast trajectory planning method based Probabilistic Roadmap Method(PRM) was proposed for unmanned aerial vehicle navigated by itself in large complicated environment.Using heuristic ruler and local planning algorithms,a Roadmap was constructed and checked to sure that it was connective.Then the optimal route was generated by map searching algorithm.Profile planning and some optimal methods were used to make the trajectory better.Experiment results demonstrate that the method is efficient and adaptable to environment,and can plan trajectories quickly with single processor.

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What this paper is about

A fast trajectory planning method based Probabilistic Roadmap Method(PRM) was proposed for unmanned aerial vehicle navigated by itself in large complicated environment.Using heuristic ruler and local planning algorithms,a Roadmap was constructed and checked to sure that it was connective.Then the optimal route was generated by map searching algorithm.Profile planning and some optimal methods were used to make the trajectory better.Experiment results demonstrate that the method is efficient and adaptable to environment,and can plan trajectories quickly with single processor.

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Available abstract

A fast trajectory planning method based Probabilistic Roadmap Method(PRM) was proposed for unmanned aerial vehicle navigated by itself in large complicated environment.Using heuristic ruler and local planning algorithms,a Roadmap was constructed and checked to sure that it was connective.Then the optimal route was generated by map searching algorithm.Profile planning and some optimal methods were used to make the trajectory better.Experiment results demonstrate that the method is efficient and adaptable to environment,and can plan trajectories quickly with single processor.

Key concepts: Trajectory, Computer science, Plan (archaeology), Heuristic, Probabilistic logic, Motion planning, Base (topology), Mathematical optimization

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