Prioritising paths: An improved cost function for local path planning for UAV in medical applications

The Aeronautical Journal, vol. 127, pp. 2125–2142

Abstract

Abstract Even the shortest flight through unknown, cluttered environments requires reliable local path planning algorithms to avoid unforeseen obstacles. The algorithm must evaluate alternative flight paths and identify the best path if an obstacle blocks its way. Commonly, weighted sums are used here. This work shows that weighted Chebyshev distances and factorial achievement scalarising functions are suitable alternatives to weighted sums if combined with the 3DVFH*local path planning algorithm. Both methods considerably reduce the failure probability of simulated flights in various environments. The standard 3DVFH*uses a weighted sum and has a failure probability of 50% in the test environments. A factorial achievement scalarising function, which minimises the worst combination of two out of four objective functions, reaches a failure probability of 26%; A weighted Chebyshev distance, which optimises the worst objective, has a failure probability of 30%. These results show promise for further enhancements and to support broader applicability.

Authors 5

1. Andreas Thoma corresponding Aachen Department of Aerospace Engineering

   RMIT University · FH Aachen

   Affiliation as printed

   Department of Aerospace Engineering, FH Aachen, Postfach 10 05 60, Aachen, Germany

   School of Engineering, Royal Melbourne Institute of Technology, GPO Box 2476V, Melbourne, Victoria, 3001, Australia

2. Karolin Thomessen Aachen Department of Aerospace Engineering

   FH Aachen

   Affiliation as printed

   Department of Aerospace Engineering, FH Aachen, Postfach 10 05 60, Aachen, Germany

3. Alessandro Gardi

   Khalifa University of Science and Technology · RMIT University

   Affiliation as printed

   Department of Aerospace Engineering, Khalifa University, PO Box 127788, Abu Dhabi, UAE

   School of Engineering, Royal Melbourne Institute of Technology, GPO Box 2476V, Melbourne, Victoria, 3001, Australia

4. Alex Fisher

   RMIT University

   Affiliation as printed

   School of Engineering, Royal Melbourne Institute of Technology, GPO Box 2476V, Melbourne, Victoria, 3001, Australia

5. Carsten Braun Aachen Department of Aerospace Engineering

   FH Aachen

   Affiliation as printed

   Department of Aerospace Engineering, FH Aachen, Postfach 10 05 60, Aachen, Germany