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Benchmarking Unmanned Rotorcraft Trajectories based on Dynamic Fit

Verma, Abhishek and Benders, Sebastian and Dauer, Johann C. and Adolf, Florian-Michael (2018) Benchmarking Unmanned Rotorcraft Trajectories based on Dynamic Fit. AIAA Science and Technology Forum, 08.-12. Jan. 2018, USA.

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Abstract

This paper presents a performance assessment of a method to generate trajectories for a small unmanned rotorcraft within an obstacle field using a standardized set of benchmark scenarios. The dynamics of the rotorcraft are discretized into a set of motion primitives. For the generation of these primitives a formulation of a path-tracking optimal control problem is used. This optimal control problem has been previously shown to achieve trajectories that can be flown very accurately in flight tests. The generated primitives are used to convert the original task within the obstacle field into a discretized planning problem using sequential decision making that is solved using an optimal graph search algorithm (e.g., Dijkstra). This algorithm selects from and combines the available motion primitives to achieve the transition between a start and a goal waypoint in minimum time. We present results of this planning approach and include a scaling analysis for simple artificial as well as more complex urban environments.

Item URL in elib:https://elib.dlr.de/119164/
Document Type:Conference or Workshop Item (Speech)
Title:Benchmarking Unmanned Rotorcraft Trajectories based on Dynamic Fit
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Verma, AbhishekUniversity of MinnesotaUNSPECIFIED
Benders, SebastianSebastian.Benders (at) dlr.deUNSPECIFIED
Dauer, Johann C.Johann.Dauer (at) dlr.deUNSPECIFIED
Adolf, Florian-Michaelflorian.adolf (at) dlr.deUNSPECIFIED
Date:7 January 2018
Refereed publication:Yes
Open Access:No
In DOAJ:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:midiARTIS, path planning, UAV, motion-primitives
Event Title:AIAA Science and Technology Forum
Event Location:USA
Event Type:international Conference
Event Dates:08.-12. Jan. 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Benders, Sebastian
Deposited On:05 Mar 2018 12:58
Last Modified:05 Mar 2018 12:58

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