3D Off-Line Path Planning For Aerial Vehicle Using Distance Transform Technique | Zendy

S. Jaishankar | Zendy; R.N. Pralhad | Zendy

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3D Off-Line Path Planning For Aerial Vehicle Using Distance Transform Technique

Author(s) -

S. Jaishankar,

R.N. Pralhad

Publication year - 2011

Publication title -

procedia computer science

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.334

H-Index - 76

ISSN - 1877-0509

DOI - 10.1016/j.procs.2011.04.141

Subject(s) - computer science , line (geometry) , path (computing) , motion planning , artificial intelligence , computer vision , distance transform , computer network , robot , image (mathematics) , geometry , mathematics

Optimal Path Planning is a well-known problem and there are many approaches and techniques for solving this task, which are mostly based on graph or grid representation of the environment. Such a representation can be very difficult to construct in the real applications. This paper introduces the Distance Transform (DT) technique of image processing, which operates on the gray level image representation of the 3D environment and its capability of planning optimized paths. The 3D environment is modelled in the form of geo-located layered data, similar to the Geographic Information system (GIS). The spatial multicriteria decision analysis (MCDA) techniques combined with distance transform technique have been used to arrive at the gray level image representation of the environment and to generate the optimal path

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