Benders, Sebastian (2018) Reconfigurable Path Planning for Fixed-Wing Unmanned Aircraft using Free-Space Roadmaps. In: 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, Seiten 891-898. Institute of Electrical and Electronics Engineers (IEEE). 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018-06-12 - 2018-06-15, Dallas, TX, USA. doi: 10.1109/ICUAS.2018.8453437. ISBN 978-153861353-5.
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Offizielle URL: https://ieeexplore.ieee.org/document/8453437/
Kurzfassung
It has been shown that unmanned aircraft path planning problems can be solved efficiently with roadmap methods. But roadmap planning approaches are not flexible on changing environmental and kinematic constraints, which might be wind or the kinematic model. The proposed approach addresses the reconfigurable path planning of kinematically constrained unmanned aerial fixed-wing vehicles with roadmap based methods. In particular, reconfigurable means that environmental conditions, kinematic models, and the flight envelope can be adjusted for every planning request without the need of updating or rebuilding the roadmap. The local planner solves straight-curve-straight local planning problems and uses convex free-space volumes stored in a free-space roadmap for run-time efficient collision checking and path planning. Finally, the application of the approach is demonstrated for two vehicles.
elib-URL des Eintrags: | https://elib.dlr.de/121704/ | ||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||
Titel: | Reconfigurable Path Planning for Fixed-Wing Unmanned Aircraft using Free-Space Roadmaps | ||||||||
Autoren: |
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Datum: | 12 Juni 2018 | ||||||||
Erschienen in: | 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018 | ||||||||
Referierte Publikation: | Ja | ||||||||
Open Access: | Nein | ||||||||
Gold Open Access: | Nein | ||||||||
In SCOPUS: | Ja | ||||||||
In ISI Web of Science: | Nein | ||||||||
DOI: | 10.1109/ICUAS.2018.8453437 | ||||||||
Seitenbereich: | Seiten 891-898 | ||||||||
Verlag: | Institute of Electrical and Electronics Engineers (IEEE) | ||||||||
Name der Reihe: | 2018 International Conference on Unmanned Aircraft Systems (ICUAS) | ||||||||
ISBN: | 978-153861353-5 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | Unmanned Aircraft, Path Planning, Sampling based | ||||||||
Veranstaltungstitel: | 2018 International Conference on Unmanned Aircraft Systems (ICUAS) | ||||||||
Veranstaltungsort: | Dallas, TX, USA | ||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||
Veranstaltungsbeginn: | 12 Juni 2018 | ||||||||
Veranstaltungsende: | 15 Juni 2018 | ||||||||
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: | 24 Sep 2018 13:45 | ||||||||
Letzte Änderung: | 24 Apr 2024 20:25 |
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