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 proceedingArticle in proceedingResearchpeer-review

4 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 languageEnglish
Title of host publicationProceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics
Publication date2009
ISBN (Print)978-156347978-6
ISBN (Electronic)1-56347-978-8
Publication statusPublished - 2009
EventAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, United States
Duration: 10 Aug 200913 Aug 2009

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference and Exhibit
CountryUnited States
CityChicago
Period10/08/200913/08/2009
SeriesAmerican Institute of Aeronautics and Astronautics Meeting Papers on Disc

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Trajectories
Antennas
Helicopters
Aircraft

Cite this

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
Schøler, F. ; La Cour-Harbo, A. ; Bisgaard, M. / Collision free path generation in 3D with turning and pitch radius constraints for aerial vehicles. 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 ).
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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 , 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 proceedingArticle in proceedingResearchpeer-review

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Schøler F, La Cour-Harbo A, Bisgaard M. 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. 2009. (American Institute of Aeronautics and Astronautics Meeting Papers on Disc ).