Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles

F. Schøler; A. La Cour-Harbo; M. Bisgaard

Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles

F. Schøler, A. La Cour-Harbo, M. Bisgaard

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

3 Citations (Scopus)

Abstract

In this paper we consider the problem of trajectory generation in 3D for uninhabited aerial systems (UAS). The proposed algorithm for trajectory generation allows us to find a feasible collision-free 3D trajectory through a number of waypoints in an environment containing obstacles. Our approach assumes that most of the aircraft structural and dynamic limitations can be formulated as a turn radius constraint, and that any two consecutive waypoints have line-of-sight. The generated trajectories are collision free and also satisfy a constraint on the minimum admissible turning radius, while allowing faster flight if appropriate. The work has been carried out with reference to the Bergen Industrial Twin helicopter and the 3D path planner from the Autonomous Vehicle Group at Aalborg University. Simulation results for the trajectory generation are presented, which are obtained using a detailed model of the Bergen Industrial Twin helicopter.

Original language	English
Title of host publication	Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit
Publisher	American Institute of Aeronautics and Astronautics
Publication date	2009
ISBN (Print)	978-156347978-6
ISBN (Electronic)	1-56347-978-8
Publication status	Published - 2009
Event	AIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, United States Duration: 10 Aug 2009 → 13 Aug 2009

Conference

Conference	AIAA Guidance, Navigation, and Control Conference and Exhibit
Country/Territory	United States
City	Chicago
Period	10/08/2009 → 13/08/2009

Series	American Institute of Aeronautics and Astronautics Meeting Papers on Disc

AUB Link

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Cite this

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title = "Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles",

abstract = "In this paper we consider the problem of trajectory generation in 3D for uninhabited aerial systems (UAS). The proposed algorithm for trajectory generation allows us to find a feasible collision-free 3D trajectory through a number of waypoints in an environment containing obstacles. Our approach assumes that most of the aircraft structural and dynamic limitations can be formulated as a turn radius constraint, and that any two consecutive waypoints have line-of-sight. The generated trajectories are collision free and also satisfy a constraint on the minimum admissible turning radius, while allowing faster flight if appropriate. The work has been carried out with reference to the Bergen Industrial Twin helicopter and the 3D path planner from the Autonomous Vehicle Group at Aalborg University. Simulation results for the trajectory generation are presented, which are obtained using a detailed model of the Bergen Industrial Twin helicopter.",

author = "F. Sch{\o}ler and {La Cour-Harbo}, A. and M. Bisgaard",

note = "Article number 2009-6178 Tidsskrift: American Institute of Aeronautics and Astronautics Meeting Papers on Disc ISSN: 1087-7215; AIAA Guidance, Navigation, and Control Conference and Exhibit ; Conference date: 10-08-2009 Through 13-08-2009",

year = "2009",

language = "English",

isbn = "978-156347978-6",

series = "American Institute of Aeronautics and Astronautics Meeting Papers on Disc ",

publisher = "American Institute of Aeronautics and Astronautics",

booktitle = "Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit",

address = "United States",

}

Schøler, F, La Cour-Harbo, A & Bisgaard, M 2009, Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles. in Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics, American Institute of Aeronautics and Astronautics Meeting Papers on Disc , AIAA Guidance, Navigation, and Control Conference and Exhibit, Chicago, United States, 10/08/2009.

Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles. / Schøler, F.; La Cour-Harbo, A.; Bisgaard, M.
Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics, 2009. (American Institute of Aeronautics and Astronautics Meeting Papers on Disc ).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles

AU - Schøler, F.

AU - La Cour-Harbo, A.

AU - Bisgaard, M.

N1 - Article number 2009-6178 Tidsskrift: American Institute of Aeronautics and Astronautics Meeting Papers on Disc ISSN: 1087-7215

PY - 2009

Y1 - 2009

N2 - In this paper we consider the problem of trajectory generation in 3D for uninhabited aerial systems (UAS). The proposed algorithm for trajectory generation allows us to find a feasible collision-free 3D trajectory through a number of waypoints in an environment containing obstacles. Our approach assumes that most of the aircraft structural and dynamic limitations can be formulated as a turn radius constraint, and that any two consecutive waypoints have line-of-sight. The generated trajectories are collision free and also satisfy a constraint on the minimum admissible turning radius, while allowing faster flight if appropriate. The work has been carried out with reference to the Bergen Industrial Twin helicopter and the 3D path planner from the Autonomous Vehicle Group at Aalborg University. Simulation results for the trajectory generation are presented, which are obtained using a detailed model of the Bergen Industrial Twin helicopter.

AB - In this paper we consider the problem of trajectory generation in 3D for uninhabited aerial systems (UAS). The proposed algorithm for trajectory generation allows us to find a feasible collision-free 3D trajectory through a number of waypoints in an environment containing obstacles. Our approach assumes that most of the aircraft structural and dynamic limitations can be formulated as a turn radius constraint, and that any two consecutive waypoints have line-of-sight. The generated trajectories are collision free and also satisfy a constraint on the minimum admissible turning radius, while allowing faster flight if appropriate. The work has been carried out with reference to the Bergen Industrial Twin helicopter and the 3D path planner from the Autonomous Vehicle Group at Aalborg University. Simulation results for the trajectory generation are presented, which are obtained using a detailed model of the Bergen Industrial Twin helicopter.

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M3 - Article in proceeding

AN - SCOPUS:78049263479

SN - 978-156347978-6

T3 - American Institute of Aeronautics and Astronautics Meeting Papers on Disc

BT - Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit

PB - American Institute of Aeronautics and Astronautics

T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit

Y2 - 10 August 2009 through 13 August 2009

ER -

Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles

Abstract

Conference

AUB Link

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Fingerprint

EVAHC : Emergency Vehicle Aided by Helicopter

Drone Research Lab

Cite this

Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles

Abstract

Conference

AUB Link

Other files and links

Fingerprint

Projects

EVAHC : Emergency Vehicle Aided by Helicopter

Equipment

Drone Research Lab

Cite this