UAV Indoor Exploration Based on a RRT-A* Algorithm 


Vol. 47,  No. 2, pp. 331-339, Feb.  2022
10.7840/kics.2022.47.2.331


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  Abstract

In this study, indoor search of UAV (Unmanned Aerial Vehicle) based on path algorithms such as RRT (Rapidly-expressing Random Tree) and A* was implemented. Bebop2 was used as UAV in the proposed system, consisting of Xavier NX as an on-board and Rplidar S1 for environmental detection. RRT and A* were used for Frontier search and UAV’s Trajectory, respectively. RRT is divided into two categories: Local exploration and Global exploration, and A* is delivered to UAV as a Trajectory to move to the selected Frontier through a filter, and the map is updated as UAV moves. The Exploration system was experimented on three environments, and its performance was evaluated with a completed map.

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  Cite this article

[IEEE Style]

H. Kim and S. Shin, "UAV Indoor Exploration Based on a RRT-A* Algorithm," The Journal of Korean Institute of Communications and Information Sciences, vol. 47, no. 2, pp. 331-339, 2022. DOI: 10.7840/kics.2022.47.2.331.

[ACM Style]

Hoon-hee Kim and Soo-young Shin. 2022. UAV Indoor Exploration Based on a RRT-A* Algorithm. The Journal of Korean Institute of Communications and Information Sciences, 47, 2, (2022), 331-339. DOI: 10.7840/kics.2022.47.2.331.

[KICS Style]

Hoon-hee Kim and Soo-young Shin, "UAV Indoor Exploration Based on a RRT-A* Algorithm," The Journal of Korean Institute of Communications and Information Sciences, vol. 47, no. 2, pp. 331-339, 2. 2022. (https://doi.org/10.7840/kics.2022.47.2.331)

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pISSN : 1226 - 4717
eISSN : 2287 - 3880