[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

200 D. Cedrych et al.
Table 1. Indices values of UAV path for
Simulation number
1 2722 3602 800
2 3900 4983 1500
3 3293 4241 1150
4 3530 4616 1300
5 3140 3761 800
Average value 3317 4240 1100
Table 2. Indices values of UAV path for
Simulation number
1 2791 3187 750
2 3743 4170 850
3 2574 3021 750
4 3131 3921 950
5 2991 3381 750
Average value 3046 3536 810
Table 3. Indices values of UAV path for
Simulation number
1 3219 3500 750
2 2700 3057 750
3 2661 2837 550
4 3055 3491 650
5 3054 2520 950
Average value 2937.8 3281 730
4 Conclusions
In this chapter set of simulations that generates solution of the problem of collision
free path planning in 3D space was presented. The target application of the
discussed method is determination of the way points of the flight of the UAV.
Presented approach allows to find feasible path in 3D space simultaneously reducing
the computations. Thanks to the simplification that consists in splitting the
process on two stages the method is both effective and simple (in terms of computation
costs). The simplicity was the one of the most important assumptions taken
for the design of the UAV control system. Since the method is not deterministic it
generates different solutions. After a number of simulations it was checked that all
the generated solutions are also feasible ones and they are satisfactory for the
overall UAV control system.