The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.
A Hybrid Path Planning Method in Unmanned Air/Ground Vehicle (UAV/UGV) Cooperative Systems
Abstract
In this paper, we study the automatic ground map building and efficient path planning in unmanned aerial/ground vehicle (UAV/UGV) cooperative systems. Using the UAV, a ground image can be obtained from the aerial vision, which is then processed with image denoising, image correction, and obstacle recognition to construct the ground map automatically. Image correction is used to help the UGV improve the recognition accuracy of obstacles. Based on the constructed ground map, a hybrid path planning algorithm is proposed to optimize the planned path. A genetic algorithm is used for global path planning, and a local rolling optimization is used to constantly optimize the results of the genetic algorithm. Experiments are performed to evaluate the performance of the proposed schemes. The evaluation results show that our proposed approach can obtain a much less costly path compared to the traditional path planning algorithms such as the genetic algorithm and the A-star algorithm and can run in real-time to support the UAV/UGV systems.
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Citations
Cites
A Combined Corner and Edge Detector
Harris, C., & Stephens, M. (1988) · Procedings of the Alvey Vision Conference 1988 · doi:10.5244/c.2.23 · Cited by 12,901
An Introduction to Genetic Algorithms
Mitchell, M. (1996) · doi:10.7551/mitpress/3927.001.0001 · Cited by 11,340
Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency
Kim, A., & Eustice, R. M. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2012.2235699 · Cited by 263
Cited by
UAV Path Planning Using Optimization Approaches: A Survey
Ait Saadi, A., Soukane, A., Meraihi, Y., Benmessaoud Gabis, A., Mirjalili, S., & Ramdane-Cherif, A. (2022) · Archives of Computational Methods in Engineering · doi:10.1007/s11831-022-09742-7 · Cited by 269
Tutsoy, O., Asadi, D., Ahmadi, K., Nabavi-Chashmi, S. Y., & Iqbal, J. (2024) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2024.3367769 · Cited by 98
Metadata
- Authors
- Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., & Ming, Z.
- Venue
- IEEE Transactions on Vehicular Technology
- Published
- 2016-12
- Volume
- 65
- Issue
- 12
- Pages
- 9585-9596
- ISSN
- 0018-9545 (ISSN-L)
- 1939-9359
- OpenAlex
- W2547345216
- Cited by
- 306
- References
- 3
- FWCI
- 14.15
- Type
- journal article
- Language
- en
- Open access
- closed
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- The paper
- Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., & Ming, Z. (2016). A Hybrid Path Planning Method in Unmanned Air/Ground Vehicle (UAV/UGV) Cooperative Systems. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2016.2623666
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