Turning decision strategy of dynamic path planning based on curve algorithm

Hendri Himawan Triharminto, Anton Satria Prabuwono, Riza Sulaiman, Noor Akhmad Setiawan, Teguh Bharata Adji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

At present, path planning algorithm is one of the ability for establishing autonomous unmanned aerial vehicle (UAV) especially in dynamic condition. In order to obtain optimum path for dynamic condition, turning decision in path planning algorithm has to be constructed. This paper discusses turning decision strategy based on linear and modified Dubins algorithm. The scenario is that path planning is used for intercepting a moving target. The turning decision which is based on linear and modified Dubins algorithm used quadrant position and degree rules as turning strategy. The quadrant position rules are defining the position between the UAV and the obstacle. The degree rules are determining the position between the UAV and a moving target in certain quadrant. The validation test was conducted using Matlab language for simulation and plotting into graph. The scenario of simulation is that a UAV flies to intercept a moving target and avoids random obstacle in cylindrical shape in between. As a result, the turning strategy achieves optimum path which meets kinematic and safety constraints.

Original languageEnglish
Title of host publicationWIT Transactions on Information and Communication Technologies
PublisherWITPress
Pages135-148
Number of pages14
Volume53
ISBN (Print)9781845648695
DOIs
Publication statusPublished - 2014
Event2013 International Conference on Advances in Intelligent Systems in Bioinformatics, Chem-Informatics, Business Intelligence, Social Media and Cybernetics, IntelSys 2013 - Jakarta
Duration: 11 Oct 201312 Oct 2013

Other

Other2013 International Conference on Advances in Intelligent Systems in Bioinformatics, Chem-Informatics, Business Intelligence, Social Media and Cybernetics, IntelSys 2013
CityJakarta
Period11/10/1312/10/13

Fingerprint

Motion planning
Unmanned aerial vehicles (UAV)
Kinematics
Decision strategy
Planning
Simulation
Scenarios

Keywords

  • A moving target
  • Dynamic path planning
  • Turning strategy

ASJC Scopus subject areas

  • Management Information Systems
  • Computer Science(all)

Cite this

Triharminto, H. H., Prabuwono, A. S., Sulaiman, R., Setiawan, N. A., & Adji, T. B. (2014). Turning decision strategy of dynamic path planning based on curve algorithm. In WIT Transactions on Information and Communication Technologies (Vol. 53, pp. 135-148). WITPress. https://doi.org/10.2495/Intelsys130141

Turning decision strategy of dynamic path planning based on curve algorithm. / Triharminto, Hendri Himawan; Prabuwono, Anton Satria; Sulaiman, Riza; Setiawan, Noor Akhmad; Adji, Teguh Bharata.

WIT Transactions on Information and Communication Technologies. Vol. 53 WITPress, 2014. p. 135-148.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Triharminto, HH, Prabuwono, AS, Sulaiman, R, Setiawan, NA & Adji, TB 2014, Turning decision strategy of dynamic path planning based on curve algorithm. in WIT Transactions on Information and Communication Technologies. vol. 53, WITPress, pp. 135-148, 2013 International Conference on Advances in Intelligent Systems in Bioinformatics, Chem-Informatics, Business Intelligence, Social Media and Cybernetics, IntelSys 2013, Jakarta, 11/10/13. https://doi.org/10.2495/Intelsys130141
Triharminto HH, Prabuwono AS, Sulaiman R, Setiawan NA, Adji TB. Turning decision strategy of dynamic path planning based on curve algorithm. In WIT Transactions on Information and Communication Technologies. Vol. 53. WITPress. 2014. p. 135-148 https://doi.org/10.2495/Intelsys130141
Triharminto, Hendri Himawan ; Prabuwono, Anton Satria ; Sulaiman, Riza ; Setiawan, Noor Akhmad ; Adji, Teguh Bharata. / Turning decision strategy of dynamic path planning based on curve algorithm. WIT Transactions on Information and Communication Technologies. Vol. 53 WITPress, 2014. pp. 135-148
@inproceedings{ed6aa4efd77f43329ba7f7efdf584150,
title = "Turning decision strategy of dynamic path planning based on curve algorithm",
abstract = "At present, path planning algorithm is one of the ability for establishing autonomous unmanned aerial vehicle (UAV) especially in dynamic condition. In order to obtain optimum path for dynamic condition, turning decision in path planning algorithm has to be constructed. This paper discusses turning decision strategy based on linear and modified Dubins algorithm. The scenario is that path planning is used for intercepting a moving target. The turning decision which is based on linear and modified Dubins algorithm used quadrant position and degree rules as turning strategy. The quadrant position rules are defining the position between the UAV and the obstacle. The degree rules are determining the position between the UAV and a moving target in certain quadrant. The validation test was conducted using Matlab language for simulation and plotting into graph. The scenario of simulation is that a UAV flies to intercept a moving target and avoids random obstacle in cylindrical shape in between. As a result, the turning strategy achieves optimum path which meets kinematic and safety constraints.",
keywords = "A moving target, Dynamic path planning, Turning strategy",
author = "Triharminto, {Hendri Himawan} and Prabuwono, {Anton Satria} and Riza Sulaiman and Setiawan, {Noor Akhmad} and Adji, {Teguh Bharata}",
year = "2014",
doi = "10.2495/Intelsys130141",
language = "English",
isbn = "9781845648695",
volume = "53",
pages = "135--148",
booktitle = "WIT Transactions on Information and Communication Technologies",
publisher = "WITPress",

}

TY - GEN

T1 - Turning decision strategy of dynamic path planning based on curve algorithm

AU - Triharminto, Hendri Himawan

AU - Prabuwono, Anton Satria

AU - Sulaiman, Riza

AU - Setiawan, Noor Akhmad

AU - Adji, Teguh Bharata

PY - 2014

Y1 - 2014

N2 - At present, path planning algorithm is one of the ability for establishing autonomous unmanned aerial vehicle (UAV) especially in dynamic condition. In order to obtain optimum path for dynamic condition, turning decision in path planning algorithm has to be constructed. This paper discusses turning decision strategy based on linear and modified Dubins algorithm. The scenario is that path planning is used for intercepting a moving target. The turning decision which is based on linear and modified Dubins algorithm used quadrant position and degree rules as turning strategy. The quadrant position rules are defining the position between the UAV and the obstacle. The degree rules are determining the position between the UAV and a moving target in certain quadrant. The validation test was conducted using Matlab language for simulation and plotting into graph. The scenario of simulation is that a UAV flies to intercept a moving target and avoids random obstacle in cylindrical shape in between. As a result, the turning strategy achieves optimum path which meets kinematic and safety constraints.

AB - At present, path planning algorithm is one of the ability for establishing autonomous unmanned aerial vehicle (UAV) especially in dynamic condition. In order to obtain optimum path for dynamic condition, turning decision in path planning algorithm has to be constructed. This paper discusses turning decision strategy based on linear and modified Dubins algorithm. The scenario is that path planning is used for intercepting a moving target. The turning decision which is based on linear and modified Dubins algorithm used quadrant position and degree rules as turning strategy. The quadrant position rules are defining the position between the UAV and the obstacle. The degree rules are determining the position between the UAV and a moving target in certain quadrant. The validation test was conducted using Matlab language for simulation and plotting into graph. The scenario of simulation is that a UAV flies to intercept a moving target and avoids random obstacle in cylindrical shape in between. As a result, the turning strategy achieves optimum path which meets kinematic and safety constraints.

KW - A moving target

KW - Dynamic path planning

KW - Turning strategy

UR - http://www.scopus.com/inward/record.url?scp=84903489694&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84903489694&partnerID=8YFLogxK

U2 - 10.2495/Intelsys130141

DO - 10.2495/Intelsys130141

M3 - Conference contribution

SN - 9781845648695

VL - 53

SP - 135

EP - 148

BT - WIT Transactions on Information and Communication Technologies

PB - WITPress

ER -