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Conference Paper
Integrated Global and Local Path Planning for Quadrotor Using Particle Swarm Optimization
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- Authors
- Youkyung Hong, Suseong Kim, Jihun Cha
- Issue Date
- 2020-07
- Citation
- IFAC World Congress 2020, pp.1-5
- Language
- English
- Type
- Conference Paper
- Abstract
- This study proposes a new path planning method for quadrotors to determine a set of waypoints by considering both geometric constraints to avoid collisions with obstacles and dynamic constraints to reflect the dynamic characteristics of the quadrotor. The proposed path planning method can be formulated as a non-linear optimization problem that minimizes the Euclidean distance between waypoints while satisfying the geometric and dynamic constraints. Particle swarm optimization is utilized to solve the non-linear optimization problem efficiently. By utilizing the Gazebo simulator, the performance of the proposed path planning method is validated for a quadrotor.
- KSP Keywords
- Dynamic characteristics, Dynamic constraints, Euclidean Distance, Geometric constraints, Global and local, Local path planning, Nonlinear optimization problem, Planning method, gazebo simulator, particle swarm optimization(PSO)