Adaptive dynamic path planning algorithm for interception of a moving target

H. H. Triharminto, A. S. Prabuwono, T. B. Adji, N. A. Setiawan

    Research output: Contribution to journalArticle

    3 Citations (Scopus)

    Abstract

    Most of the 3D curve path planning is used to build static path planning. For intercepting of a moving target, the path planning has to be set in a dynamic condition. L+Dumo algorithm which is based on curve is used to intercept a moving target. In the real situations, the Unmanned Aerial Vehicle (UAV) has possibility to intercept a moving target from all direction. It is assumed that environment of the UAV is in 3D Euclidean Space. It means that the UAV has to adapt for all quadrants for interception of a moving target. This research develops a path planning algorithm which enhances the previous L+Dumo algorithm to encounter the possibility quadrants. The enhancement would be simulated in C++ language to determine the accuracy of the algorithm. The simulation is conducted using one UAV and one moving target with random obstacles of cylindrical shape in between both objects. The result shows that the system accuracy is 81.0876%, a level which is able to encounter all possibility quadrants.

    Original languageEnglish
    Pages (from-to)19-33
    Number of pages15
    JournalInternational Journal of Mobile Computing and Multimedia Communications
    Volume5
    Issue number3
    DOIs
    Publication statusPublished - Jul 2013

    Fingerprint

    Unmanned aerial vehicles (UAV)
    Motion planning

    Keywords

    • 3D Curve Dynamic Path Planning
    • L+Dumo Algorithm
    • Moving Target
    • Possibility Quadrants
    • Unmanned Aerial Vehicle (UAV)

    ASJC Scopus subject areas

    • Computer Networks and Communications

    Cite this

    Adaptive dynamic path planning algorithm for interception of a moving target. / Triharminto, H. H.; Prabuwono, A. S.; Adji, T. B.; Setiawan, N. A.

    In: International Journal of Mobile Computing and Multimedia Communications, Vol. 5, No. 3, 07.2013, p. 19-33.

    Research output: Contribution to journalArticle

    Triharminto, H. H. ; Prabuwono, A. S. ; Adji, T. B. ; Setiawan, N. A. / Adaptive dynamic path planning algorithm for interception of a moving target. In: International Journal of Mobile Computing and Multimedia Communications. 2013 ; Vol. 5, No. 3. pp. 19-33.
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