Adaptive dynamic path re-planning RRT algorithms with game theory for UAVs
Bertola, Andrea & Gonzalez, Luis Felipe (2013) Adaptive dynamic path re-planning RRT algorithms with game theory for UAVs. In 15th Australian International Aerospace Congress (AIAC15), 25-28 February 2013, Melbourne Converntion Centre, Melbourne, VIC.
The main aim of this paper is to describe an adaptive re-planning algorithm based on a RRT and Game Theory to produce an efficient collision free obstacle adaptive Mission Path Planner for Search and Rescue (SAR) missions. This will provide UAV autopilots and flight computers with the capability to autonomously avoid static obstacles and No Fly Zones (NFZs) through dynamic adaptive path replanning. The methods and algorithms produce optimal collision free paths and can be integrated on a decision aid tool and UAV autopilots.
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|Item Type:||Conference Paper|
|Keywords:||Path planning, adaptive, UAV, UAS, replanning, Rapidly Exploring Random Trees, search and rescue, Matlab, Game theory, CEDM|
|Subjects:||Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > NUMERICAL AND COMPUTATIONAL MATHEMATICS (010300) > Optimisation (010303)
Australian and New Zealand Standard Research Classification > ENVIRONMENTAL SCIENCES (050000) > ENVIRONMENTAL SCIENCE AND MANAGEMENT (050200)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 [please consult the author]|
|Deposited On:||15 Apr 2013 22:45|
|Last Modified:||06 Sep 2014 01:45|
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