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A Line-Graph Path Planner for Performance Constrained Fixed-Wing UAVs in Wind Fields

Benders, Sebastian and Schopferer, Simon (2017) A Line-Graph Path Planner for Performance Constrained Fixed-Wing UAVs in Wind Fields. International Conference on Unmanned Aircraft Systems (ICUAS), 13.-16. Juni 2017, Miami, USA.

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Abstract

We present a runtime efficient approach to sampling-based path planning for fixed-wing unmanned aerial vehicles (UAV) based on line-graphs. Accounting for flight performance limits and the local prevailing wind, path planning is computationally expensive especially in 3D obstacle environments. A common approach is to solve the problem successively, i.e. to plan collision free paths, which are then transformed into feasible paths. However, this may compromise planning completeness if path smoothing fails. We show that line-graphs based on 3D probabilistic roadmaps can be used to effectively decouple the planning problem. The roadmap serves as a persistent free space representation of the environment and the corresponding linegraph is used to incorporate kinematic constraints to respect the fixed-wing flight performance limits in wind. Applying the A* graph-search on the line-graph instead of the 3D roadmap allows to efficiently find paths that respect these kinematic constraints without relying on path smoothing. Our results show that the presented approach can be used for near-realtime multi-query planning with varying wind conditions and flight performance constraints.

Item URL in elib:https://elib.dlr.de/112874/
Document Type:Conference or Workshop Item (Speech)
Title:A Line-Graph Path Planner for Performance Constrained Fixed-Wing UAVs in Wind Fields
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Benders, Sebastiansebastian.benders (at) dlr.deUNSPECIFIED
Schopferer, Simonsimon.schopferer (at) dlr.deUNSPECIFIED
Date:2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 79-86
Status:Published
Keywords:UAV, Fixed-wing, Path Planning, Roadmap, Line-graph, Flight Envelope, Wind
Event Title:International Conference on Unmanned Aircraft Systems (ICUAS)
Event Location:Miami, USA
Event Type:international Conference
Event Dates:13.-16. Juni 2017
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:18 Jul 2017 14:39
Last Modified:18 Jul 2017 14:39

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