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

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

3 Citationer (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.

Originalsprog	Engelsk
Titel	Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit
Forlag	American Institute of Aeronautics and Astronautics
Publikationsdato	2009
ISBN (Trykt)	978-156347978-6
ISBN (Elektronisk)	1-56347-978-8
Status	Udgivet - 2009
Begivenhed	AIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, USA Varighed: 10 aug. 2009 → 13 aug. 2009

Konference

Konference	AIAA Guidance, Navigation, and Control Conference and Exhibit
Land/Område	USA
By	Chicago
Periode	10/08/2009 → 13/08/2009

Navn	American Institute of Aeronautics and Astronautics Meeting Papers on Disc

Bibliografisk note

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

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

Andre filer og links

Link to publication in Scopus

EVAHC : Emergency Vehicle Aided by Helicopter (EVAHC)
la Cour-Harbo, A. (PI (principal investigator)) & Schøler, F. (PI (principal investigator))
Aalborg University
15/09/2008 → 01/01/2011
Projekter: Projekt › Forskning

Drone Research Lab
la Cour-Harbo, A. (Leder), Jensen, S. (Operatør), Rasmussen, F. H. (Andre), Dejgaard Meyer, J. (Andre), Gomez, A. R. (Andre), Bektash, O. M. (Andre), Leth, T. (Andre), Totu, L. C. (Andre), Pedersen, J. N. (Andre), Primatesta, S. (Andre), Gabrlik, P. (Andre) & Bisgaard, M. (Operatør)
Institut for Elektroniske Systemer
Facilitet: Testfacilitet

Citationsformater

@inproceedings{81aa218853864c54a43ab12266f0d939,

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. i 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, USA, 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 ).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › 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.

UR - http://www.scopus.com/inward/record.url?scp=78049263479&partnerID=8YFLogxK

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

Konference

Bibliografisk note

AUB Link

Andre filer og links

Fingeraftryk

Projekter

EVAHC : Emergency Vehicle Aided by Helicopter (EVAHC)

Udstyr

Drone Research Lab

Citationsformater