کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Innovative Pathway Optimization for Autonomous Drones in Urban Landscapes Using Integrated Techniques

نویسندگان :

Seyed Ahmad Abtahi¹ M.A. Amiri Atashgah² Bahram Tarvirdizadeh³ Mohammad Habashiniak⁴

1- دانشگاه صنعتی امیرکبیر 2- دانشگاه تهران 3- دانشگاه تهران 4- دانشگاه صنعتی امیرکبیر

کلمات کلیدی :

Path Planning،PRM،Medial Axis،UAV،Urban Environment

چکیده :

This paper presents a novel and practical approach to path planning for airborne robots, aiming to generate optimal, safe, and obstacle-free trajectories. By integrating the Medial Axis and Probabilistic Road Map (PRM) algorithms, we propose a hybrid path-planning method that balances safety and optimality without compromise. Our method involves preprocessing and analyzing two-dimensional maps to identify and navigate narrow passages effectively. Experimental results and analyses demonstrate that our approach significantly improves safety and reduces path length compared to traditional PRM algorithms in various scenarios.

لیست مقالات

لیست مقالات بایگانی شده

Modeling of seawater desalination by reverse osmosis method powered by wind turbine

Bahareh Iranmanesh - Gholam Hossein Riahy Dehkordi

Design and fabrication of wearable and stretchable EEG headband using textile-based electrode wire

Kourosh Motiepor - Arman Modoudi Yaghouti - Simin Bakhtiyari - Amir Jahanshahi - Roohollah Bagherzadeh

Modeling, estimation, and model predictive control for Covid-19 pandemic with finite security duration vaccine

Abolfazl Delavar - Reza Rahimi Baghbadorani

یک روش تشخیص و تصحیح خطا برای بلوک های داده

سعیده صادقی - محسن راجی

Learning-Based Routing Policy For Wireless Sensor Networks

‪Najim Halloum‬‏ - Yousef Darmani - Ali Ahmadi

A New Coupled Inductor based Non-Isolated Dual Input Soft-Switching High Step-up DC-DC Converter

Amirreza Razavi Majarshin - Ebrahim Babaei - Mehran Sabahi

Cooperative Coverage Path Planning Using Q-Learning and Sarsa in Two Environments

Alireza Nezamzadeh - Hamed Jalaly Bidgoly - Marzieh Kamali

Image quality equations for focused transducer in circular photoacoustic computed tomography

Soheil Hakakzadeh - Zahra Kavehvash

Stability Analysis of Distributed-Order Systems: a Lyapunov Scheme

Vahid Badri

Optimizing Dual IMU Sensor Placement for Gait Phase Detection with LSTM Models

Mahya Abedi - Zolfa Anvari - Hamed Ghafarirad - Mohammad Zareinejad

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.4.2