Abstract
This paper describes a path planning method for a small autonomous aerial vehicle to be used for inspecting overhead electricity power lines. A computational algorithm is described which converts a standard three dimensional array representation of one or more obstacles in the vehicle's environment into an octree and a connectivity graph. This achieves a significant reduction in computer memory usage and an increase in execution speed when the graph is searched. Path planning is based on a three-dimensional extension of the distance transform. Test results demonstrate rapid and effective operation of the planner within different workspaces.
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