Abstract

VANEGAS ZABALA, Gloria  and  LIGER YEPEZ, Andrea. Reward-based deterministic path planning for discrete 3D environments. Novasinergia [online]. 2023, vol.6, n.2, pp.154-167.  Epub July 14, 2023. ISSN 2631-2654.  https://doi.org/10.37135/ns.01.12.10.

Abstract: Several branches of study and research arise from uncrewed aerial vehicle (UAV) technology. A relevant in-flight task focuses on path planning in 3D, which implies a high computational cost and, consequently, must be achieved by improving the response time. This work aims to optimize the computation time and determine a complete 3D path. In this sense, a 3D flight environment as a 3D adaptive discrete mesh is considered subjected to minimal refinement in search of collision-free spaces. With the construction of the discrete mesh, a cost response methodology is applied in the manner of the discrete deterministic finite automaton (DDFA), which results in a set of optimal partial responses (recursively computed) that indicate the collision-free spaces in the final 3D path for the UAV flight. As a result, the path-planning 3D algorithm saves computational time and memory resources compared to classical techniques.

Keywords : 3D Path planning; optimal path; UAV.

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