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 proceedingKonferenceartikel i proceedingForskningpeer review

3 Citationer (Scopus)

Abstrakt

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.
OriginalsprogEngelsk
TitelProceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit
ForlagAmerican Institute of Aeronautics and Astronautics
Publikationsdato2009
ISBN (Trykt)978-156347978-6
ISBN (Elektronisk)1-56347-978-8
StatusUdgivet - 2009
BegivenhedAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, USA
Varighed: 10 aug. 200913 aug. 2009

Konference

KonferenceAIAA Guidance, Navigation, and Control Conference and Exhibit
LandUSA
ByChicago
Periode10/08/200913/08/2009
NavnAmerican 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

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