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Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV
Exploring large, unknown, and unstructured environments is challenging for Unmanned Aerial Vehicles (UAVs), but they are valuable tools to inspect large structures safely and efficiently. The Lazy Theta* path-planning algorithm is revisited and adapted to generate paths fast enough to be used in rea...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6339096/ https://www.ncbi.nlm.nih.gov/pubmed/30621305 http://dx.doi.org/10.3390/s19010174 |