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3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft

Niendorf, Moritz and Bednar, Marius and Reichel, Reinhard (2011) 3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft. RED-UAS 2011, 2011-11-30 - 2011-12-01, Sevilla, Spain.

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Path planning for unmanned aircraft has attracted a remarkable amount of interest from the research community. However, planning in large environments such as the civil airspace has not been addressed extensively. In this paper we apply a heuristic incremental interpolation-based search algorithm with ecient replanning capabilities to the path planning problem for a fixed-wing aircraft operating in a natural environment to plan and re-plan long flight paths. We modified the algorithm to account for the minimum turning radius and the limited flight path angles of a fixed-wing aircraft. Additionally, we present a method to consider a desired minimum cruising altitude. These properties specific to aircraft operation could not be addressed with the original algorithm. Simulation results show that the planner produces intuitive, short paths and is capable of exploiting previous planning eorts, when unknown obstacles are encountered.

Item URL in elib:https://elib.dlr.de/72421/
Document Type:Conference or Workshop Item (Paper)
Title:3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Bednar, MariusUniversity of Stuttgart, Institute for Aircraft Systems UNSPECIFIEDUNSPECIFIED
Reichel, ReinhardUniversity of Stuttgart, Institute for Aircraft SystemsUNSPECIFIEDUNSPECIFIED
Date:November 2011
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:UAV, fixed-wing, motion planning, 3D Field D*, kinematic constraints
Event Title:RED-UAS 2011
Event Location:Sevilla, Spain
Event Type:international Conference
Event Start Date:30 November 2011
Event End Date:1 December 2011
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignment
DLR - Research theme (Project):L - no assignment (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Niendorf, Moritz
Deposited On:14 Dec 2011 11:13
Last Modified:24 Apr 2024 19:38

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