Title: Comparison of hybrid path planning approaches for vehicles in 3D non-deterministic environments

Authors: Denis Beloglazov; Valery Finaev; Mikhail Medvedev; Igor Shapovalov; Viktor Soloviev

Addresses: Department of Automatic Control Systems, Southern Federal University, Nekrasovsky lane, 44; Taganrog, Russia; Department of Electrical Engineering and Mechatronics, Southern Federal University, Shevchenko str, 2 Taganrog, Russia; Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Universitetskaya Str., 1 Innopolis, Russia ' Department of Automatic Control Systems, Southern Federal University, Nekrasovsky lane, 44; Taganrog, Russia; Department of Electrical Engineering and Mechatronics, Southern Federal University, Shevchenko str, 2 Taganrog, Russia; Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Universitetskaya Str., 1 Innopolis, Russia ' Department of Automatic Control Systems, Southern Federal University, Nekrasovsky lane, 44; Taganrog, Russia; Department of Electrical Engineering and Mechatronics, Southern Federal University, Shevchenko str, 2 Taganrog, Russia; Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Universitetskaya Str., 1 Innopolis, Russia ' Department of Automatic Control Systems, Southern Federal University, Nekrasovsky lane, 44; Taganrog, Russia; Department of Electrical Engineering and Mechatronics, Southern Federal University, Shevchenko str, 2 Taganrog, Russia; Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Universitetskaya Str., 1 Innopolis, Russia ' Department of Automatic Control Systems, Southern Federal University, Nekrasovsky lane, 44; Taganrog, Russia; Department of Electrical Engineering and Mechatronics, Southern Federal University, Shevchenko str, 2 Taganrog, Russia; Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Universitetskaya Str., 1 Innopolis, Russia

Abstract: The article presents the development and analysis of hybrid path planning systems for vehicles. Two types of planner structures have been defined. In the first type of systems, several basic path planning methods operate together. In the systems of the second type, parameters and initial data of one basic method are modified by additional algorithms. We developed the controller that solves positioning and path-following problems with a high accuracy. Hybrid path-planning systems are developed for a hexacopter based on the virtual fields method and fuzzy logic. In the first synthesised system, the special algorithm of sensor data analysis modifies an initial data to use the virtual fields method.

Keywords: hybrid path planning; vehicle; 3D non-deterministic environment; virtual fields; fuzzy logic; obstacle point cloud; motion control; modelling.

DOI: 10.1504/IJMIC.2019.102349

International Journal of Modelling, Identification and Control, 2019 Vol.32 No.2, pp.169 - 181

Received: 21 Jul 2017
Accepted: 21 Feb 2018

Published online: 17 Sep 2019 *

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