Waypoint planning with Dubins Curves using Genetic Algorithms

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Resumé

Mission planning for aircraft is often done as waypoint planning. A sequence of waypoints describing the three-dimensional positions that the aircraft must visit. A common approach is to plan the sequence of the waypoints such that the Euclidean distance between them is minimized. When the high-level waypoint planning is finished, a finer grained planning is executed to obtain a trajectory that the aircraft must follow. When the waypoints in a plan are distributed far apart compared to the turning radius of the aircraft, the two- step planning approach works well, but when the waypoints are closer, the kinematics of the aircraft ruins the plan. This work describes an approach that uses a genetic algorithm to solve the waypoint planning problem while considering the kinematics of the aircraft in one single step. This approach entails the addition of a heading and target speed along with the position in the waypoint definition. The kinematics of the aircraft is modeled with Dubins curves, which are extended to allow variable turning radii.
OriginalsprogEngelsk
TitelEuropean Control Conference (ECC), 2016
ForlagIEEE
Publikationsdatojun. 2016
Sider2240-2246
ISBN (Elektronisk)978-1-5090-2591-6
DOI
StatusUdgivet - jun. 2016
BegivenhedEuropean Control Conference 2016 - Aalborg, Danmark
Varighed: 28 jun. 20161 jul. 2016

Konference

KonferenceEuropean Control Conference 2016
LandDanmark
ByAalborg
Periode28/06/201601/07/2016

Citer dette

Hansen, Karl Damkjær ; La Cour-Harbo, Anders. / Waypoint planning with Dubins Curves using Genetic Algorithms. European Control Conference (ECC), 2016. IEEE, 2016. s. 2240-2246
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title = "Waypoint planning with Dubins Curves using Genetic Algorithms",
abstract = "Mission planning for aircraft is often done as waypoint planning. A sequence of waypoints describing the three-dimensional positions that the aircraft must visit. A common approach is to plan the sequence of the waypoints such that the Euclidean distance between them is minimized. When the high-level waypoint planning is finished, a finer grained planning is executed to obtain a trajectory that the aircraft must follow. When the waypoints in a plan are distributed far apart compared to the turning radius of the aircraft, the two- step planning approach works well, but when the waypoints are closer, the kinematics of the aircraft ruins the plan. This work describes an approach that uses a genetic algorithm to solve the waypoint planning problem while considering the kinematics of the aircraft in one single step. This approach entails the addition of a heading and target speed along with the position in the waypoint definition. The kinematics of the aircraft is modeled with Dubins curves, which are extended to allow variable turning radii.",
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Hansen, KD & La Cour-Harbo, A 2016, Waypoint planning with Dubins Curves using Genetic Algorithms. i European Control Conference (ECC), 2016. IEEE, s. 2240-2246, Aalborg, Danmark, 28/06/2016. https://doi.org/10.1109/ECC.2016.7810624

Waypoint planning with Dubins Curves using Genetic Algorithms. / Hansen, Karl Damkjær; La Cour-Harbo, Anders.

European Control Conference (ECC), 2016. IEEE, 2016. s. 2240-2246.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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