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

Runtime efficient path planning for a fixed-wing UAV considering flight performance limits

Benders, Sebastian (2016) Runtime efficient path planning for a fixed-wing UAV considering flight performance limits. Master's. DLR-Interner Bericht. DLR-IB-FT-BS-2016-116, 75 S.

[img] PDF - Registered users only
4MB

Abstract

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.

Item URL in elib:https://elib.dlr.de/105155/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Runtime efficient path planning for a fixed-wing UAV considering flight performance limits
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Benders, SebastianSebastian.Benders (at) dlr.deUNSPECIFIED
Date:June 2016
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:75
Status:Published
Keywords:UAS, UAV, Fixed-wing, Path Planning, Pseudo-dual Graph, Trochoids, Flight Envelope
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems and Cabin
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Benders, Sebastian
Deposited On:29 Aug 2016 14:39
Last Modified:29 Aug 2016 14:39

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.