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Reconfigurable Path Planning for Fixed-Wing Unmanned Aircraft using Free-Space Roadmaps

Benders, Sebastian (2018) Reconfigurable Path Planning for Fixed-Wing Unmanned Aircraft using Free-Space Roadmaps. Institute of Electrical and Electronics Engineers (IEEE). 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 12.-15. Jun. 2018, Dallas, TX, USA. DOI: 10.1109/ICUAS.2018.8453437

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Official URL: https://ieeexplore.ieee.org/document/8453437/

Abstract

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.

Item URL in elib:https://elib.dlr.de/121704/
Document Type:Conference or Workshop Item (Speech)
Title:Reconfigurable Path Planning for Fixed-Wing Unmanned Aircraft using Free-Space Roadmaps
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Benders, SebastianSebastian.Benders (at) dlr.deUNSPECIFIED
Date:12 June 2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/ICUAS.2018.8453437
Page Range:pp. 891-898
Publisher:Institute of Electrical and Electronics Engineers (IEEE)
Series Name:2018 International Conference on Unmanned Aircraft Systems (ICUAS)
Status:Published
Keywords:Unmanned Aircraft, Path Planning, Sampling based
Event Title:2018 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Location:Dallas, TX, USA
Event Type:international Conference
Event Dates:12.-15. Jun. 2018
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:24 Sep 2018 13:45
Last Modified:24 Sep 2018 13:45

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