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.

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