Benders, Sebastian (2016) Runtime efficient path planning for a fixed-wing UAV considering flight performance limits. DLR-Interner Bericht. DLR-IB-FT-BS-2016-116. Masterarbeit. 75 S.
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Kurzfassung
In this thesis, a runtime efficient roadmap-based path planning approach for fixed-wing unmanned aerial vehicles (UAVs) in a static 3D-environment is presented. The approach considers kinematic constraints and trimmed flight performance limits of a fixed-wing UAV as well as local prevailing wind. The planner is capable to plan with multiple air-speeds. For this purpose, a 3D-roadmap representing collision free flight corridors is created. Based on the 3D-roadmap, a pseudo-dual graph, in which the path is planned, is created to introduce the aircraft specific constraints. The planned path is a progression of straight flight and turning flight segments. The time parametrized trajectories are super positioned of horizontal and vertical aircraft motion trajectories, described by trochoids in horizontal and 5th degree polynomials in vertical direction. The approach is evaluated in simple and real world scenarios.
elib-URL des Eintrags: | https://elib.dlr.de/105155/ | ||||||||
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Dokumentart: | Berichtsreihe (DLR-Interner Bericht, Masterarbeit) | ||||||||
Titel: | Runtime efficient path planning for a fixed-wing UAV considering flight performance limits | ||||||||
Autoren: |
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Datum: | Juni 2016 | ||||||||
Referierte Publikation: | Nein | ||||||||
Open Access: | Nein | ||||||||
Seitenanzahl: | 75 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | UAS, UAV, Fixed-wing, Path Planning, Pseudo-dual Graph, Trochoids, Flight Envelope | ||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||
HGF - Programm: | Luftfahrt | ||||||||
HGF - Programmthema: | Flugzeuge | ||||||||
DLR - Schwerpunkt: | Luftfahrt | ||||||||
DLR - Forschungsgebiet: | L AR - Aircraft Research | ||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | L - Systeme und Kabine (alt) | ||||||||
Standort: | Braunschweig | ||||||||
Institute & Einrichtungen: | Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge | ||||||||
Hinterlegt von: | Benders, Sebastian | ||||||||
Hinterlegt am: | 29 Aug 2016 14:39 | ||||||||
Letzte Änderung: | 29 Aug 2016 14:39 |
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