RRT* GL Based Path Planning for Virtual Aerial Navigation

  • Wilbert G. Aguilar
  • Stephanie Morales
  • Hugo Ruiz
  • Vanessa Abad
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10324)


In this paper, we describe a path planning system for virtual navigation based on a RRT combination of RRT* Goal and Limit. The propose system includes a point cloud obtained from the virtual workspace with a RGB-D sensor, an identification module for interest regions and obstacles of the environment, and a collision-free path planner based on Rapidly-exploring Random Trees (RRT) for a safe and optimal virtual navigation of UAVs in 3D spaces.


Path planning RRT Point cloud registration 3D modeling Mobile robotics RGB-D segmentation Computational geometry 



This work is part of the projects VisualNavDrone 2016-PIC-024 and MultiNavCar 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Wilbert G. Aguilar
    • 1
    • 2
    • 3
  • Stephanie Morales
    • 2
  • Hugo Ruiz
    • 1
    • 4
  • Vanessa Abad
    • 5
  1. 1.Dep. Seguridad y DefensaUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  2. 2.CICTE Research CenterUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  3. 3.GREC Research GroupUniversitat Politècnica de CatalunyaBarcelonaSpain
  4. 4.PLM Research CenterPurdue UniversityLafayetteUSA
  5. 5.Universitat de BarcelonaBarcelonaSpain

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