A ROS-based hybrid algorithm for the UAV path planning problem
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 26 January 2023
Issue publication date: 27 March 2023
Abstract
Purpose
It is possible with classical path planning algorithms to plan a path in a static environment if the instant position of the vehicle is known and the target and obstacle positions are constant. In a dynamic case, these methods used for the static environment are insufficient. The purpose of this study is to find a new method that can provide a solution to the four-rotor unmanned aerial vehicle (UAV) path planning problem in static and dynamic environments.
Design/methodology/approach
As a solution to the problem within the scope of this study, there is a new hybrid method in which the global A* algorithm and local the VFH+ algorithm are combined.
Findings
The performance of the designed algorithm was tested in different environments using the Gazebo model of a real quadrotor and the robot operating system (ROS), which is the widely used platform for robotic applications. Navigation stacks developed for mobile robots on the ROS platform were also used for the UAV, and performance benchmarks were carried out. From the proposed hybrid algorithm, remarkable results were obtained in terms of both planning and implementation time compared to ROS navigation stacks.
Originality/value
This study proposes a new hybrid approach to the path planning problem for UAVs operating in both static and dynamic environments.
Keywords
Citation
Canpolat Tosun, D. and Işık, Y. (2023), "A ROS-based hybrid algorithm for the UAV path planning problem", Aircraft Engineering and Aerospace Technology, Vol. 95 No. 5, pp. 784-798. https://doi.org/10.1108/AEAT-04-2022-0102
Publisher
:Emerald Publishing Limited
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