@inproceedings{da449a23a1664a759f60b526ce8a7e02,
title = "Point-to-point near-optimal obstacle avoidance path for the unmanned aerial vehicle",
abstract = "In this paper we study the point-to-point optimal path problem for the fixed-wing UAV in obstacle environment. We first characterize the structure of the optimal path in the presence of stationary circular obstacles and provide a proof of the NP-hardness of the optimal path problem. To simplify the planning complexity, a rapid and efficient path planning algorithm is proposed in this paper. The novel algorithm is able to generate a near-optimal path but reduce the computation cost from a complex feasible path set to only 4 paths. Numerical simulations have shown the effectiveness of the proposed algorithm.",
keywords = "avoidance path, NP-hardness, path planning, UAV",
author = "Liang Hu and Zhong Wang and Chunhui Zhao",
note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",
year = "2015",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2015.7260486",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5413--5418",
editor = "Qianchuan Zhao and Shirong Liu",
booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",
}