### Abstract

Original language | English |
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Title of host publication | Intelligent Vehicles Symposium (IV), 2012 IEEE |

Number of pages | 5 |

Publisher | IEEE Press |

Publication date | 2012 |

Pages | 229-233 |

ISBN (Print) | 978-1-4673-2119-8 |

DOIs | |

Publication status | Published - 2012 |

Event | 2012 IEEE Intelligent Vehicles Symposium (IV) - Madrid, Spain Duration: 3 Jun 2012 → 7 Jun 2012 |

### Conference

Conference | 2012 IEEE Intelligent Vehicles Symposium (IV) |
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Country | Spain |

City | Madrid |

Period | 03/06/2012 → 07/06/2012 |

Series | I E E E Intelligent Vehicles Symposium |
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ISSN | 1931-0587 |

### Fingerprint

### Keywords

- Trajectory generation
- obstacle avoidance
- UAS

### Cite this

*Intelligent Vehicles Symposium (IV), 2012 IEEE*(pp. 229-233). IEEE Press. I E E E Intelligent Vehicles Symposium https://doi.org/10.1109/IVS.2012.6232120

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*Intelligent Vehicles Symposium (IV), 2012 IEEE.*IEEE Press, I E E E Intelligent Vehicles Symposium, pp. 229-233, 2012 IEEE Intelligent Vehicles Symposium (IV), Madrid, Spain, 03/06/2012. https://doi.org/10.1109/IVS.2012.6232120

**Generating Approximative Minimum Length Paths in 3D for UAVs.** / Schøler, Flemming; la Cour-Harbo, Anders; Bisgaard, Morten.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Generating Approximative Minimum Length Paths in 3D for UAVs

AU - Schøler, Flemming

AU - la Cour-Harbo, Anders

AU - Bisgaard, Morten

PY - 2012

Y1 - 2012

N2 - We consider the challenge of planning a minimum length path from an initial position to a desired position for a rotorcraft. The path is found in a 3-dimensional Euclidean space containing a geometric obstacle. We base our approach on visibility graphs which have been used extensively for path planning in 2-dimensional Euclidean space. Generalizing to 3-dimensional space is not straight-forward, unless a visibility graph is generated that, when searched, will only provide an approximative minimum length path. Our approach generates such a visibility graph that is composed by an obstacle graph and two supporting graphs. The obstacle graph is generated by approximating a mesh around the conguration space obstacle, which is build from the convex hull of its work space counterpart. The supporting graphs are generated by nding the supporting lines between the initial or desired position and the mesh. An approximation to the optimal path can subsequently be found using an existing graph search algorithm. The presented approach is suitable for fully known environments with a single truly 3-dimensional (not merely "raised" 2-dimensional) obstacle. A example for generating a path for a small-scale helicopter operating near a building is shown.

AB - We consider the challenge of planning a minimum length path from an initial position to a desired position for a rotorcraft. The path is found in a 3-dimensional Euclidean space containing a geometric obstacle. We base our approach on visibility graphs which have been used extensively for path planning in 2-dimensional Euclidean space. Generalizing to 3-dimensional space is not straight-forward, unless a visibility graph is generated that, when searched, will only provide an approximative minimum length path. Our approach generates such a visibility graph that is composed by an obstacle graph and two supporting graphs. The obstacle graph is generated by approximating a mesh around the conguration space obstacle, which is build from the convex hull of its work space counterpart. The supporting graphs are generated by nding the supporting lines between the initial or desired position and the mesh. An approximation to the optimal path can subsequently be found using an existing graph search algorithm. The presented approach is suitable for fully known environments with a single truly 3-dimensional (not merely "raised" 2-dimensional) obstacle. A example for generating a path for a small-scale helicopter operating near a building is shown.

KW - Trajectory generation

KW - obstacle avoidance

KW - UAS

UR - http://www.scopus.com/inward/record.url?scp=84865022662&partnerID=8YFLogxK

U2 - 10.1109/IVS.2012.6232120

DO - 10.1109/IVS.2012.6232120

M3 - Article in proceeding

SN - 978-1-4673-2119-8

T3 - I E E E Intelligent Vehicles Symposium

SP - 229

EP - 233

BT - Intelligent Vehicles Symposium (IV), 2012 IEEE

PB - IEEE Press

ER -