Planificación de trayectoria determinista basado en recompensas para entornos discretos 3D.

Abstract

Several branches of study and research arise from uncrewed aerial vehicle (UAV) technology. A relevant in-flight task focuses on path planning in 3D, which impliesa high computational cost and, consequently, must be achieved by improving the response time. This work aims to optimize the computation time and determine a complete 3D path. In this sense, a 3D flight environment as a 3D adaptive discrete mesh is considered subjected to minimal refinement in search of collision-free spaces. With the construction of the discrete mesh, a cost response methodology is applied in the manner of the discrete deterministic finite automaton (DDFA), which results in a set of optimal partial responses (recursively computed) that indicate the collision-free spaces in the final 3D path for the UAV flight. As a result, the path-planning 3D algorithm saves computational time and memory resources compared to classical techniques.

Keywords

• 3d path planning
• optimal path
• uav