Comparison of hybrid path planning approaches for vehicles in 3D non-deterministic environments

Abstract

The article presents the development and analysis of hybrid path planning systems for vehicles. Two types of planner structures have been defined. In the first type of systems, several basic path planning methods operate together. In the systems of the second type, parameters and initial data of one basic method are modified by additional algorithms. We developed the controller that solves positioning and path-following problems with a high accuracy. Hybrid path-planning systems are developed for a hexacopter based on the virtual fields method and fuzzy logic. In the first synthesised system, the special algorithm of sensor data analysis modifies an initial data to use the virtual fields method.