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Onboard path planning for unmanned aircraft automated taxi using a virtual line-graph

Benders, Sebastian and Lorenz, Sven and Laubner, Martin and Goormann, Lukas (2023) Onboard path planning for unmanned aircraft automated taxi using a virtual line-graph. In: AIAA Scitech 2023 Forum, pp. 1-12. American Institute of Aeronautics and Astronautics. AIAA SciTech Forum, 2023, 23.-27. Jan. 2023, National Harbor, MD, USA. doi: 10.2514/6.2023-0396.

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Official URL: https://arc.aiaa.org/doi/10.2514/6.2023-0396


Automated taxi is a key enabler for fully automated unmanned aircraft operation and is especially relevant with unmanned aircraft of size and weight which cannot be moved to the take-off position manually. But literature addressing automated taxi trajectory planning and demonstrations of unmanned taxi operations is still rare. Within this paper a path planning approach for automated unmanned aircraft taxi is described and demonstrated. A Dubins car model is used for motion planning. The path planning is conducted with a roadmap method, using a virtual line graph and a local straight-curve-straight planning problem. Using the presented method, taxi trajectories can be planned in a computationally efficient manner as evaluated in an exemplary scenario. For demonstration at a research airport the automated taxi path planning is integrated in a 450 kg maximum take-off mass unmanned gyrocopter system.

Item URL in elib:https://elib.dlr.de/193766/
Document Type:Conference or Workshop Item (Speech)
Title:Onboard path planning for unmanned aircraft automated taxi using a virtual line-graph
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Benders, SebastianUNSPECIFIEDhttps://orcid.org/0000-0001-6110-9438UNSPECIFIED
Lorenz, SvenUNSPECIFIEDhttps://orcid.org/0000-0002-2133-227XUNSPECIFIED
Date:23 January 2023
Journal or Publication Title:AIAA Scitech 2023 Forum
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 1-12
Publisher:American Institute of Aeronautics and Astronautics
Series Name:AIAA SciTech Forum, 2023
Keywords:unmanned aircraft, taxi, path planning, roadmap, line-graph, A*, dubins
Event Title:AIAA SciTech Forum, 2023
Event Location:National Harbor, MD, USA
Event Type:international Conference
Event Dates:23.-27. Jan. 2023
Organizer:American Institute of Aeronautics and Astronautics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Unmanned Aerial Systems, L - Command
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems
Institute of Flight Systems > Unmanned Aircraft
Deposited By: Benders, Sebastian
Deposited On:25 Apr 2023 11:23
Last Modified:25 Apr 2023 11:23

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