Helicopter Path Planning using Probabilistic Roadmaps

  title={Helicopter Path Planning using Probabilistic Roadmaps},
  author={Per Olof Pettersson},
Probabilistic roadmap algorithms work in two stages. In the first, by randomly choosing collision free configurations of a robot and then attempting to connect these, a graph is created which represents the free space of the robot’s environment. This graph can then be used to answer path planning queries during runtime. In this report I describe an adaptation of this algorithm to the domain of an autonomously flying helicopter. I also present two extensions to the algorithm: visibility based… CONTINUE READING


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