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  • Метод автоматического планирования совокупности траекторий для навигации беспилотных транспортных средств

Article

Метод автоматического планирования совокупности траекторий для навигации беспилотных транспортных средств

Яковлев К. С., Андрейчук А. А., Баскин Е. С.

In the article we examine the task of planning for the alternative paths for an unmanned vehicle. This task is a key part of a bigger problem – multi agent path planning, e.g. finding the set of non-conflict paths for a coalition of vehicles. We propose a new path planning method which indirectly takes into account vehicle’s movement dynamics and guarantees the feasibly of the resultant paths. As well we elaborate on a number of modifications of proposed method. We conduct empirical study of all the introduced algorithms by running large number of the experiments simulating nap-of-the-earth flight of compact multirotor unmanned aerial vehicle in urban environment.