Skip to main content
SpringerLink
Log in

A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

A fundamental aspect of autonomous vehicle guidance is planning trajectories. Historically, two fields have contributed to trajectory or motion planning methods: robotics and dynamics and control. The former typically have a stronger focus on computational issues and real-time robot control, while the latter emphasize the dynamic behavior and more specific aspects of trajectory performance. Guidance for Unmanned Aerial Vehicles (UAVs), including fixed- and rotary-wing aircraft, involves significant differences from most traditionally defined mobile and manipulator robots. Qualities characteristic to UAVs include non-trivial dynamics, three-dimensional environments, disturbed operating conditions, and high levels of uncertainty in state knowledge. Otherwise, UAV guidance shares qualities with typical robotic motion planning problems, including partial knowledge of the environment and tasks that can range from basic goal interception, which can be precisely specified, to more general tasks like surveillance and reconnaissance, which are harder to specify. These basic planning problems involve continual interaction with the environment. The purpose of this paper is to provide an overview of existing motion planning algorithms while adding perspectives and practical examples from UAV guidance approaches.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Agarwal, P.K., Wang, H.: Approximation algorithms for curvature-constrained shortest paths. SIAM J. Comput. 30(6), 1739–1772 (1996)

    Article  MathSciNet  Google Scholar 

  2. Ahuja, N., Chuang, J.: Shape representation using a generalized potential field model. IEEE Trans. Pattern Anal. Mach. Intell. 19, 169–176 (1997)

    Article  Google Scholar 

  3. Lazanas, A., Latombe, J.C.: Motion planning with uncertainty: a landmark approach. Artif. Intell. 76(1&2), 287–317 (1995)

    Article  Google Scholar 

  4. Barto, A.G., Bradtke, S.J., Singh, S.P.: Learning to act using real-time dynamic programming. Artif. Intell. 72(1), 81–138 (1995)

    Article  Google Scholar 

  5. Behnke, S.: Local multiresolution path planning. In: Proceedings of 7th RoboCup International Symposium, pp. 332–343 (2004)

  6. Bertsekas, D.: Dynamic Programming and Optimal Control, vols. I and II. Athena Scientific, Nashua, NH (2007)

  7. Bellingham, J., Richards, A., How, J.P.: Receding horizon control of autonomous aerial vehicles. In: Proceedings of the American Controls Conference, pp. 3741–3746 (2002)

  8. Belta, C., Bicci, A., Egerstedt, M., Frazzoli, E., Klavins, E., Pappas, G.: Symbolic control and planning of robotic motion. Proc. IEEE Robot. Autom. Mag. 14, 61–70 (2007)

    Article  Google Scholar 

  9. Belta, C., Isler, V., Pappas, G.: Discrete abstractions for robot motion planning and control in polygonal environments. IEEE Trans. Robot. 21(5), 864–874 (2005)

    Article  Google Scholar 

  10. Betts, J.T.: Survey of numerical methods for trajectory optimization. J. Guid. Control Dyn. 21, 193–207 (1998)

    Article  MATH  Google Scholar 

  11. Bohlin, R., Kavraki, L.E.: Path planning using lazy PRM. IEEE Int. Conf. Robot. Autom. 1, 521–528 (2000)

    Google Scholar 

  12. Borenstein, J., Koren, Y.: Real-time obstacle avoidance for fast mobile robots. IEEE Trans. Syst. Man Cybern. 19(5), 1179–1187 (1989)

    Article  Google Scholar 

  13. Borenstein, J., Koren, Y.: The vector field histogram—fast obstacle avoidance for mobile robots. IEEE J. Robot. Autom. 7, 278–288 (1991)

    Article  Google Scholar 

  14. Boyle, D.P., Charnitoff, G.E.: Autonomous maneuver tracking for self-piloted vehicles. J. Guid. Control Dyn. 22(1), 58–67 (1999)

    Article  Google Scholar 

  15. Brock, O., Khatib, O.: High-speed navigation using the global dynamic window approach. In: IEEE International Conference on Robotics and Automation, pp. 341–346 (1999)

  16. Brockett, R.W.: Formal languages for motion description and map making. Proc. Symp. Appl. Math. 41, 181–193 (1990)

    MathSciNet  Google Scholar 

  17. Call, B., Beard, R., Taylor, C., Barber, B.: Obstacle avoidance for unmanned air vehicles using image feature tracking. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, Keystone, CO (2006)

  18. Canny, J.F.: The Complexity of Robot Motion Planning. MIT, Cambridge (1988)

    Google Scholar 

  19. Carlyle, W.M., Wood, R.K.: Lagrangian relaxation and enumeration for solving constrained shortest-path problems. In: Proceedings of the 38th Annual ORSNZ Conference (2005)

  20. Caselli, S., Reggiani, M., Rocchi, R.: Heuristic methods for randomized path planning in potential fields. In: Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 426–431 (2001)

  21. Choset, H., Burdick, J.: Sensor-based exploration: the hierarchical generalized Voronoi graph. Int. J. Rob. Res. 19(2), 96–125 (2000)

    Article  Google Scholar 

  22. Choset, H., Walker, S., Eiamsa-Ard, K., Burdick, J.: Sensor-based exploration: incremental construction of the hierarchical generalized Voronoi graph. Int. J. Rob. Res. 19(2), 126–148 (2000)

    Article  Google Scholar 

  23. Conner, D.C., Rizzi, A.A., Choset, H.: Composition of local potential functions for global robot control and navigation. In: Proceedings of 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, pp. 3546–3551 (2003)

  24. Conner, D.C., Choset, H., Rizzi, A.A.: Integrated planning and control for convex-bodied nonholonomic systems using local feedback control policies. In: Robotics: Science and Systems II, Philadelphia, PA (2006)

  25. Connolly, C.I.:Harmonic functions and collision probabilities. Int. J. Rob. Res. 16(4), 497 (1997)

    Article  MathSciNet  Google Scholar 

  26. Connolly, C.I., Souccar, K., Grupen, R.A.: A Hamiltonian framework for kinodynamic planning and control. Proc. IEEE Conf. Robot. Autom. 3, 2746–2752 (1995)

    Google Scholar 

  27. Connolly, C.I., Burns, J.B., Weiss, R.: Path planning using Laplace’s equation. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 2102–2106 (1990)

  28. Dadkhah, N., Kong, Z., Korukanti, V., Mettler, B.: Experimental demonstration of an online trajectory optimization scheme using approximate spatial value functions. In: Proceedings of the Conference on Decision and Control, Shanghai, China (2009)

  29. Dechter, R., Pearl, J.: Generalized best-first search strategies and the optimality of A*. J. ACM 32, 505–536 (1985)

    Article  MATH  MathSciNet  Google Scholar 

  30. Dever, C., Mettler, B., Feron, E., Papovic, J., McConley, M.: Trajectory interpolation for parametrized maneuvering and flexible motion planning of autonomous vehicles. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, Providence, RI (2004)

  31. Donald, B., Xavier, P.: Kinodynamic motion planning. J. ACM 40, 1048–1066 (1993)

    Article  MATH  MathSciNet  Google Scholar 

  32. Donald, B.R., Xavier, P.G.: Provably good approximation algorithms for optimal kinodynamic planning for Cartesian robots and open chain manipulators. Algorithmica 14, 958–963 (1995)

    Google Scholar 

  33. Ferguson, D., Likhachev, M., Stentz, A.: A Guide to heuristic-based path planning. In: Proceedings of ICAPS Workshop on Planning under Uncertainty for Autonomous Systems, AAAI (2005)

  34. Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robot. Autom. Mag. 4(1), 23–33 (1997)

    Article  Google Scholar 

  35. Frazzoli, E., Dahleh, M.A., Feron, E.: A hybrid control architecture for aggressive maneuvering of autonomous helicopters. In: Proceedings of the Conference on Decision and Control, Phoenix, AZ (1999)

  36. Frazzoli, E., Dahleh, M.A., Feron, E.: Real-time motion planning for agile autonomous vehicles. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, Denver, CO (2000)

  37. Frazzoli, E., Dahleh, M.A., Feron, E.: Real-time motion planning for agile autonomous vehicles. J. Guid. Control Dyn. 25(1), 116–129 (2002)

    Article  Google Scholar 

  38. Frew, E.: Receding horizon control using random search for UAV navigation with passive, non-cooperative sensing. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, CA (2005)

  39. Fujimura, K., Tunii, T.L.: Motion Planning in Dynamic Environments. Springer, Secaucus (1992)

    Google Scholar 

  40. Gavrilets, V., Frazzoli, E., Mettler, B., Piedmonte, M., Feron, E.: Aggressive maneuvering of small autonomous helicopters: a human-centered approach. Int. J. Rob. Res. 20(10), 795 (2001)

    Article  Google Scholar 

  41. Geyer, M.S., Johnson, E.N.: 3D obstacle avoidance in adversarial environments for unmanned aerial vehicles. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, Keystone, CO (2006)

  42. Guillemin, V., Pollack, A.: Differential Topology. Prentice-Hall, New York (1974)

    MATH  Google Scholar 

  43. Hamner, B., Singh, S., Scherer, S.: Learning obstacle avoidance parameters from operator behavior. In: Special Issue on Machine Learning Based Robotics in Unstructured Environments, vol. 23, pp. 1037–1058. Wiley InterScience (2006)

  44. Howlett, J., Tsenkov, P., Whalley, M., Schulein, G., Takahashi, M.: Flight evaluation of a system for unmanned rotorcraft reactive navigation in uncertain urban environments. Presented at the 63rd Annual Forum of the American Helicopter Society, Virginia Beach, VA (2008)

  45. Howlett, J.K., Schulein, G., Mansur, M.H.: A practical approach to obstacle field route planning for unmanned rotorcraft. In: American Helicopter Society 60th Annual Forum Proceedings, Baltimore, MD (2004)

  46. Hristu-Varsakelis, D., Egerstedt, M., Krishnaprasad, P.S.: On the structural complexity of the motion description language MDLe. In: Proceedings of the 42nd IEEE Conference on Decision and Control, pp. 3360–3365 (2003)

  47. Hui-Zhong Zhuang, D.S., Wu, T.: Real-time path planning for mobile robots. In: Proceedings of International Conference on Machine Learning and Cybernetics, vol. 1, pp. 526–531 (2005)

  48. Hwang, Y.K., Ahuja, N.: Gross motion planning—a survey. ACM Comput. Surv. 24, 219–291 (1992)

    Article  Google Scholar 

  49. Hwangbo, M., Kuffner, J., Kanade, T.: Efficient two-phase 3D motion planning for small fixed-wing UAVs. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 1035–1041 (2007)

  50. Ikonen, L.: Pixel queue algorithm for geodesic distance transforms. In: Discrete Geometry for Computer Imagery, pp. 228–239 (2005)

  51. Ikonen, L., Toivanen, P.: Shortest routes on varying height surfaces using gray-level distance transforms. Image Vis. Comput. 23, 133–140 (2005)

    Article  Google Scholar 

  52. Jadbabaie, A.: Receding horizon control of nonlinear systems: a control Lyapunov function approach. PhD, California Institute of Technology (2000)

  53. Junge, O., Marsden, J.E., Ober-blöbaum, S.: Discrete mechanics and optimal control. In: The 16th IFAC World Congress, Prague, Czech (2005)

  54. John Canny, A.R.: An exact algorithm for kinodynamic planning in the plane. In: Proceedings of the Sixth Annual Symposium on Computational Geometry, pp. 271–280 (1990)

  55. Judd, K.B., McLain, T.W.: Spline based path planning for unmanned air vehicles. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, Montreal, Canada (2000)

  56. Kavraki, L., Nolountzakis, M., Latombe, J.: Analysis of probabilistic roadmaps for path planning. IEEE Trans. Robot. Autom. 14(1), 166–171 (1998)

    Article  Google Scholar 

  57. Kavraki, L., Svestka, P., Latombe, J., Overmars, M.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robot. Autom. 12, 566–580 (1996)

    Article  Google Scholar 

  58. Keith, G., Tait, J., Richards, A.G.: Efficient path optimization with terrain avoidance. In: AIAA Navigation, Guidance and Control Conference, Hilton Head, SC (2007)

  59. Khatib, O., Mampey, L.M.: Fonction Decision-Commande d’un Robot Manipulateur, Rep. 2/7156. DERA/CERT, Toulouse, France (1978)

  60. Kim, S.H., Bhattacharya, R.: Multi-layer approach for motion planning in obstacle rich environments. In: AIAA Navigation, Guidance and Control Conference, Hilton Head, SC (2007)

  61. Kobilarov, M., Desbrun, M., Marsden, J., Sukhatme, G.S.: A discrete geometric optimal control framework for systems with symmetries. In: Robotics: Science and Systems, vol. 3, pp. 1–8 (2007)

  62. Kong, Z., Korukanti, V., Mettler B.: Mapping 3D guidance performance using approximate optimal cost-to-go function. In: AIAA Navigation, Guidance and Control Conference, Chicago, IL (2009)

  63. Koren, Y., Borenstein, J.: Potential field methods and their inherent limitations for mobile robot navigation. In: Proceedings of the IEEE Conference on Robotics and Automation, vol. 2, pp. 1398–1404 (1991)

  64. Tarabanis, K., Allen, P.K., Tsai, R.Y.: A survey of sensor planning in computer vision. IEEE Trans. Robot. Autom. 11, 86–104 (1995)

    Article  Google Scholar 

  65. Kuwata, Y., Schouwenaars, T., Richards, A., How J.: Robust constrained receding horizon control for trajectory planning. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, CA (2005)

  66. Latombe, J.: Robot Motion Planning. Kluwer Academic, Boston (1991)

    Google Scholar 

  67. LaValle, S.M.: Rapidly-exploring random trees: a new tool for path planning. Tech. Rep (TR 98-11), Computer Science Dept, Iowa State University (1998)

  68. LaValle, S.M., Konkimalla, P.: Algorithms for computing numerical optimal feedback motion strategies. Int. J. Rob. Res. 20, 729–752 (2001)

    Article  Google Scholar 

  69. LaValle, S.M.: From dynamic programming to RRTs: algorithmic design of feasible trajectories. In: Control Problems in Robotics, pp. 19–37 (2002)

  70. LaValle, S.: Planning Algorithms. Cambridge University Press, Cambridge (2006)

    MATH  Google Scholar 

  71. LaValle, S.M., Kuffner, J.J.: Randomized kinodynamic planning. In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 20, no. 5, p. 378 (1999)

  72. Marigo, A., Bicchi, A.: Steering driftless nonholonomic systems by control Quanta. In: Proceedings of IEEE International Conference on Decision and Control, pp. 4164–4169 (1998)

  73. Manikonda, V., Krishnaprasad, P.S., Hendler, J.: Languages, behaviors, hybrid architectures and motion control. In: Mathematical Control Theory, pp. 199–226 (1998)

  74. Milam, M.B., Franz, R, Murray R.M.: Real-time constrained trajectory generation applied to a flight control experiment. In: Proceedings of the IFAC World Congress (2002)

  75. Marsden, J.E., West, M.: Discrete mechanics and variational integrators. Acta Numer. 10, 357–514 (2001)

    Article  MATH  MathSciNet  Google Scholar 

  76. Mazer, E., Ahuactzin, J.M.: The Ariadne’s clew algorithm. J. Artif. Intell. Res. 9, 1–32 (1998)

    Google Scholar 

  77. Menon, P.K., Sweriduk, G.D., Bowers, A.H.: Study of near-optimal endurance-maximizing periodic cruise trajectories. J. Aircr. 44(2), 393–398 (2005)

    Article  Google Scholar 

  78. Mettler, B., Valenti, M, Schouwenaars, T, Frazzoli, E., Feron, E.: Rotorcraft motion planning for Agile maneuvering using a maneuver automaton. In: 58th Forum of the American Helicopter Society, Montreal, Canada (2002)

  79. Mettler, B., Bachelder, E.: Combining on-and offline optimization techniques for efficient autonomous vehicle’s trajectory planning. In: AIAA Guidance, Navigation, and Control Conference, San Francisco, CA (2005)

  80. Mettler, B., Toupet, O.: Receding horizon trajectory planning with an environment based cost-to-go function. In: Joint ECC-CDC Conference, Seville, Spain (2005)

  81. Mettler, B., Kong, Z.: Receding horizon trajectory optimization with a finite-state value function approximation. In: American Control Conference (ACC), Seattle, WA (2008)

  82. Mitchell, J., Papadimitriou, C.: The weighted region problem: finding shortest paths through a weighted planar subdivision. J. ACM 38, 18–73 (1991)

    Article  MATH  MathSciNet  Google Scholar 

  83. Kazhdan, M., Bolitho, M., Hoppe H.: Poisson surface reconstruction. In: Proceedings of Eurographics Symposium on Geometry, pp. 61–70 (2006)

  84. Ogren, P., Leonard, N.E.: A convergent dynamic window approach to obstacle avoidance. IEEE Trans. Robot. 21, 188–195 (2005)

    Article  Google Scholar 

  85. Piedmonte, M., Feron, E.: Aggressive maneuvering of autonomous aerial vehicles: a human-centered approach. In: Proceedings of the International Symposium on Robotics Research, vol. 9, pp. 413–420 (1999)

  86. Prazenica, R.J., Kurdila, A.J., Sharpley, R.C., Evers, J.: Multiresolution and adaptive path planning for maneuver of Micro-Air-Vehicles in urban environments. In: AIAA Navigation, Guidance and Control Conference, San Francisco, CA (2005)

  87. Redding, J., Amin, J.N., Boskovic, J.D., Kang, Y., Hedrick, K., Howlett, J., Poll, S.: A real-time obstacle detection and reactive path planning system for autonomous small-scale helicopters. In: AIAA Navigation, Guidance and Control Conference, Hilton Head, SC (2007)

  88. Reif, J., Sun, Z.: An efficient approximation algorithm for weighted region shortest path problem. In: Proceedings of the 4th Workshop on Algorithmic Foundations of Robotics, p. 191 (2000)

  89. Reif, J.H., Wang, H.: Nonuniform discretization for kinodynamic motion planning and its applications. SIAM J. Comput. 30, 161–190 (2000)

    Article  MATH  MathSciNet  Google Scholar 

  90. Rhinehart, M.: Monte Carlo testing of 2- and 3-dimensional route planners for autonomous UAV navigation in urban environments. PhD thesis, University of Minnesota (2008)

  91. Richards, A., How, J.: Aircraft trajectory planning with collision avoidance using mixed integer linear programming. In: American Control Conference, Anchorage, AK (2002)

  92. Rimon, E., Koditschek, D.E.: Exact robot navigation using cost functions: the case of distinct spherical boundaries in E^n. Proc. IEEE Int. Conf. Robot. Autom. 3, 1791–1796 (1988)

    Google Scholar 

  93. Akishita, S., Kawamura, S., Hayashi, K.: Laplace potential for moving obstacle avoidance and approach of a mobile robot. In: Proceedings of the Japan–USA Symposium on Flexible Automation (a Pacific Rim Conference), pp. 139–142 (1990)

  94. Scherer, S., Singh, S., Chamberlain, L.J., Saripalli, S.: Flying fast and low among obstacles. In: Proceedings International Conference on Robotics and Automation, pp. 2023–2029 (2007)

  95. Schouwenaars, T., Mettler, B., Feron, E., How, J.: Robust motion planning using a maneuver automaton with built-in uncertainties. Proc. Am. Control Conf. 3, 2211–2216 (2003)

    Google Scholar 

  96. Schouwenaars, T., Mettler, B., Feron, E., How, J.: Hybrid model for trajectory planning of agile autonomous vehicles. J. Aero. Comput. Inform. Commun. 1(12), 466–478 (2004)

    Article  Google Scholar 

  97. Schouwenaars, T., Moor, B.D., Feron, E., How, J.: Mixed integer programming for multi-vehicle path planning. In: European Control Conference (2001)

  98. Schwartz, J.T., Yap, C.K.: Advances in Robotics: Algorithmic and Geometric Aspects of Robotics, vol. 1. Lawrence Erlbaum, Philadelphia (1986)

  99. Shanmugavel, M., Tsourdos, A., Zbikowski, R., White, B.A.: 3d path planning for multiple UAVs using Pythagorean Hodograph curves. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, Hilton Head, South Carolina (2007)

  100. Shim, D., Sastry, S.: A situation-aware flight control system design using real-time model predictive control for unmanned autonomous helicopters. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, Keystone, CO (2006)

  101. Shkel, A., Lumelsky, V.: The jogger’s problem: accounting for body dynamics in real-time motion planning. In: Intelligent Robots and Systems, vol. 95, pp. 441–447 (1995)

  102. Sinopoli, B., Micheli, M., Donato, G., Koo, T.J.: Vision based navigation for an unmanned aerial vehicle. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 1757–1765 (2001)

  103. Singh, L., Fuller, J.: Trajectory generation for a UAV in urban terrain, using non-linear MPC. In: Proceedings of American Control Conference, pp. 2301–2308 (2001)

  104. Slater, G.L.: Guidance on maneuvering flight paths for rotary wing aircraft. In: AIAA Guidance, Navigation and Control Conference, vol. 1, pp. 793–803. Monterey, CA (1987)

  105. Soucy, M., Payeur, P.: Robot path planning with multiresolution probabilistic representations: a comparative study. In: Proceedings of the Canadian Conference on Electrical and Computer Engineering, Niagara Falls, Canada (2004)

  106. Spenko, K., Overholt, J., Iagnemma, K.: High speed hazard avoidance for unmanned ground vehicles in emergency situations. In: 25th Army Science Conference, Orlando, FL (2006)

  107. Stopp, A., Riethmuller, T.: Fast reactive path planning by 2D and 3D multi-layer spatial gridsfor mobile robot navigation. In: Proceedings of the 1995 IEEE International Symposium on Intelligent Control, pp. 545–550 (1995)

  108. Suzuki, S., Komatsu, Y., Yonezawa, S., Masui, K., Tomita, H.: Online four-dimensional flight trajectory search and its flight testing. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, CA (2005)

  109. Švestka, P., Overmars, M.H.: Coordinated motion planning for multiple car-like robots using probabilistic roadmaps. In: Proceedings of the IEEE Conference on Robotics and Automation, Nagoya Japan (1995)

  110. Takahashi, M.D., Schulein, G., Whalley, M.:. Flight Control Law Design and Development for an Autonomous Rotorcraft. American Helicopter Society, Virginia Beach, VA (2008)

  111. Toupet, O., Mettler, B.: Design and flight test evaluation of guidance system for autonomous rotorcraft. In: Proceedings of the AIAA Guidance, Navigation and Control Conference, Keystone, CO (2006)

  112. Toussaint, G.J., Basar, T., Bullo, F.: Motion planning for nonlinear underactuated vehicles using H-infinity techniques. In: Proceedings of the 2001 American Control Conference, vol. 5, pp. 4097–4102 (2001)

  113. Tsenkov, P., Howlett, J.K., Whalley, M., Schulein, G., Takahashi, M., Rhinehart, M.H., Mettler, B.: A system for 3d autonomous rotorcraft navigation in urban environments. In: AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI (2008)

  114. Thrun, S.: Robotic mapping: a survey. In: Exploring Artificial Intelligence in the New Millennium. Morgan Kaufmann, San Francisco (2002)

    Google Scholar 

  115. Thrun, S., Diel, M., Hahnel, D.: Scan alignment and 3-D surface modeling with a helicopter platform. In: International Conference on Field and Service Robotics, Japan (2003)

  116. Thrun, S., Montemerlo, M.: The graph slam algorithm with applications to large-scale mapping of urban structures. Int. J. Rob. Res. 25(5–6), 403 (2006)

    Article  Google Scholar 

  117. Vandapel, N., Kuffner, J., Amidi, O.: Planning 3-D path networks in unstructured environments. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4624–4629 (2005)

  118. Wei, S., Zefran, M.: Smooth path planning and control for mobile robots. In: Proceedings of IEEE International Conference on Networking, Sensing and Control, pp. 894–899 (2005)

  119. Whalley, M., Freed, M., Harris, R., Takahashi, M., Schulein, G., Howlett, J.K.: Design, integration, and flight test results for an autonomous surveillance helicopter. In: Proceedings of the AHS International Specialists Meeting on Unmanned Rotorcraft, Candler, AZ (2005)

  120. Yakimenko, O.A.: Direct method for rapid prototyping of near-optimal aircraft trajectories. J. Guid. Control Dyn. 23(5), 865 (2000)

    Article  Google Scholar 

  121. Yang, G., Kapila, V.: Optimal path planning for unmanned air vehicles with kinematic and tactical constraints. In: IEEE Conference on Decision and Control, Las Vegas, NV (2002)

  122. Yang, H.I., Zhao, Y.J.: Trajectory planning for autonomous aerospace vehicles amid known obstacles and conflicts. J. Guid. Control Dyn. 27(6), 997–1008 (2004)

    Article  Google Scholar 

  123. Zavlangas, P.G., Tzafestas, P.S.G., Althoefer, D.K.: Fuzzy obstacle avoidance and navigation for omnidirectional mobile robots. In: European Symposium on Intelligent Techniques, Aachen, Germany (2000)

  124. Zelek, J.S.: Dynamic path planning. In: IEEE International Conference on Systems, Man and Cybernetics, Vancouver, Canada (1995)

  125. Zengin, U., Dogan, A.: Probabilistic trajectory planning for UAVs in dynamic environments. In: AIAA 3rd “Unmanned Unlimited” Technical Conference, Workshop and Exhibit, Chicago, IL (2004)

Download references

Author information

Authors and Affiliations

  1. NASA Ames Research Center, San Jose State University Research Foundation, Moffett Field, CA, 94035, USA

    C. Goerzen

  2. Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, USA

    Z. Kong & B. Mettler

Authors
  1. C. Goerzen
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Z. Kong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. B. Mettler
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to B. Mettler.

Additional information

This research was completed under grants NNX08A134A (San Jose State University Research Foundation) and NNX07AN31A (University of Minnesota) as part of the US Army Aeroflightdynamics Directorate (RDECOM) flight control program.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Goerzen, C., Kong, Z. & Mettler, B. A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance. J Intell Robot Syst 57, 65–100 (2010). https://doi.org/10.1007/s10846-009-9383-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-009-9383-1

Keywords

Search

Navigation