2024/09/20 by Edward Yao, Yao, Edward
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Data Structures and Algorithms (cs.DS) #FOS: Computer and information sciences #I.6.3 #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2409.13149
openalex publication_date 2024/09/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This research investigates the efficiency of Floyd algorithm for obstacle-free path planning for autonomous aerial vehicles (UAVs) or drones. Floyd algorithm is used to generate the shortest paths for UAVs to fly from any place to the destination in a large-scale field with obstacles which UAVs cannot fly over. The simulation results demonstrated that Floyd algorithm effectively plans the shortest obstacle-free paths for UAVs to fly to a destination. It is verified that Floyd algorithm holds a time complexity of O(n3). This research revealed a correlation of a cubic polynomial relationship between the time cost and the size of the field, no correlation between the time cost and the number of obstacles, and no correlation between the time cost and the number of UAVs in the tested field. The applications of the research results are discussed in the paper as well.