Different cell decomposition path planning methods for unmanned air vehicles-a review

Abstract

An Unmanned Aerial Vehicle (UAV) or robot is guided towards its goal through path planning that helps it in avoiding obstacles. Path planning generates a path between a given start and an end point for the safe and secure reach of the robot with required criteria. A number of path planning methods are available such as bio-inspired method, sampling based method, and combinatorial method. Cell decomposition technique which is known as one of the combinatorial methods can be represented with configuration space. The aim of this paper is to study the results obtained in earlier researches where cell decomposition technique has been used with different criteria like shortest travelled path, minimum computation time, memory usage, safety, completeness, and optimality. Based on the classical taxonomy, the studied methods are classified.