elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft

Niendorf, Moritz and Bednar, Marius and Reichel, Reinhard (2011) 3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft. RED-UAS 2011, 30. Nov. - 01. Dez. 2011, Sevilla, Spain.

Full text not available from this repository.

Abstract

Path planning for unmanned aircraft has attracted a remarkable amount of interest from the research community. However, planning in large environments such as the civil airspace has not been addressed extensively. In this paper we apply a heuristic incremental interpolation-based search algorithm with ecient replanning capabilities to the path planning problem for a fixed-wing aircraft operating in a natural environment to plan and re-plan long flight paths. We modified the algorithm to account for the minimum turning radius and the limited flight path angles of a fixed-wing aircraft. Additionally, we present a method to consider a desired minimum cruising altitude. These properties specific to aircraft operation could not be addressed with the original algorithm. Simulation results show that the planner produces intuitive, short paths and is capable of exploiting previous planning eorts, when unknown obstacles are encountered.

Document Type:Conference or Workshop Item (Paper)
Title:3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft
Authors:
AuthorsInstitution or Email of Authors
Niendorf, MoritzFT-UL
Bednar, MariusUniversity of Stuttgart, Institute for Aircraft Systems
Reichel, ReinhardUniversity of Stuttgart, Institute for Aircraft Systems
Date:November 2011
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:UAV, fixed-wing, motion planning, 3D Field D*, kinematic constraints
Event Title:RED-UAS 2011
Event Location:Sevilla, Spain
Event Type:international Conference
Event Dates:30. Nov. - 01. Dez. 2011
Organizer:FADA-CATEC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignement
DLR - Research theme (Project):L -- no assignement
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Moritz Niendorf
Deposited On:14 Dec 2011 11:13
Last Modified:14 Dec 2011 11:13

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.