UAV Path Planning for Cave Exploration Using Tangent Based Intersection Method

Banday, B and Vineethkumar, K and Surwade, N and Nagrare, SR and Ghose, D (2024) UAV Path Planning for Cave Exploration Using Tangent Based Intersection Method. In: AIAA SciTech Forum and Exposition, 2024, 8 January 2024through 12 January 2024, Orlando, Florida..

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Abstract

Path planning plays a vital role in UAV applications, especially those that involve exploring a risky subterranean efficiently while avoiding obstacles. This work proposes an auto nomous path-planning algorithm for exploring the environment with narrow passages, such as caves and mines, named Adaptive Target Guidance and Planning, using Tangent Intersection (ATGP-TI),which employs a tangent intersection technique and heuristics to determine optimal paths for Uncrewed Aerial Vehicles (UAVs). A temporary target guides the UAV along tangents to ellipses en closing obstacles in an inclined plane spanning from the origin to the UAV�s range and the height of the environment, adjusting its flight path to circumvent obstacles until it reaches the end goal. The algorithm records a single collision-free path on the map, demonstrating robustness in both static and dynamic environments, particularly in navigating maze-like spaces. The simulations highlight the application of the algorithm in unknown environments, narrow passages, and GPS-denied areas, with a focus on 3D terrains like caves and mines. © 2024 by Bazeela Banday, Kasula Vineethkumar, Nakul Surwade, Samiksha Rajkumar Nagrare, Debasish Ghose.

Item Type:	Conference Paper
Publication:	AIAA SciTech Forum and Exposition, 2024
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA.
Keywords:	Air navigation; Antennas; Motion planning; Unmanned aerial vehicles (UAV), Avoiding obstacle; Collision-free paths; Inclined planes; Intersection method; Optimal paths; Path-planning algorithm; Single-collision; Uncrewed aerial vehicles; Vehicle applications; Vehicle path planning, Caves
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	24 Sep 2024 09:59
Last Modified:	24 Sep 2024 09:59
URI:	http://eprints.iisc.ac.in/id/eprint/85628

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