Optimal 3D Path Planning for the Delivery Quadcopters Operating in a City Airspace

Abstract

Path planning is a path used in guiding Unmanned Aerial Vehicles (UAVs), the three dimensional optimal path is calculated by A-star and Dijkstra algorithms proposed in the three dimensional environments. Simulation environments consist of a hypothetical environment and a realistic environment and including static obstacles or the shapes of modern buildings. This paper is to find the shortest path and avert obstacles to from the starting off node to the landing node and finding the shortest optimal path on the network nodes using algorithms proposed through the formation of a three dimensional network by connecting link nodes with adjacent starting off node and landing node so that robots can perform their tasks as quickly possible in the environment. The simulation environment has been established to evaluate the performance of the A-star and Dijkstra algorithms. The results proved that A-star algorithm outperformed Dijkstra’s algorithm in the execution time factor in finding the optimal path only, but they are similar in distance factor and passe nodes in the optimal path in all cases considered.