A Sampling-Based Approach to UAV Manipulator Path Planning

Zamoum Housseyn, Guiatni Mohamed, Bouzid Yasser, Alouane Amine, Khelal Atmane

2024

Abstract

This paper presents a new approach to path planning for unmanned aerial manipulator systems (UAMs) using Sampling-Based Methods and Random Geometric Models (RGM) to efficiently search the configuration space for feasible, collision-free paths. The RGM generates random points in the UAM’s workspace to guide sampling-based algorithms in constructing graphs that link the aerial manipulator’s initial and final positions. These graphs are then explored using the RRT ∗ algorithm to find an optimal collision-free path. The effectiveness of this approach is demonstrated through different scenarios, showing that it outperforms existing path planning techniques in terms of efficiency, computing time, and robustness. The proposed framework is adaptable to various application scenarios and environments, making it a valuable tool for applications such as search and rescue missions, surveillance, and inspection tasks.

Paper Citation

in Harvard Style

Housseyn Z., Mohamed G., Yasser B., Amine A. and Atmane K. (2024). A Sampling-Based Approach to UAV Manipulator Path Planning. In Proceedings of the 14th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH; ISBN 978-989-758-708-5, SciTePress, pages 80-90. DOI: 10.5220/0012761700003758

in Bibtex Style

@conference{simultech24,
author={Zamoum Housseyn and Guiatni Mohamed and Bouzid Yasser and Alouane Amine and Khelal Atmane},
title={A Sampling-Based Approach to UAV Manipulator Path Planning},
booktitle={Proceedings of the 14th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH},
year={2024},
pages={80-90},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012761700003758},
isbn={978-989-758-708-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH
TI - A Sampling-Based Approach to UAV Manipulator Path Planning
SN - 978-989-758-708-5
AU - Housseyn Z.
AU - Mohamed G.
AU - Yasser B.
AU - Amine A.
AU - Atmane K.
PY - 2024
SP - 80
EP - 90
DO - 10.5220/0012761700003758
PB - SciTePress