Adolf, Florian-Michael and Abou-Hussein, Mohamed and Goerzen, Chad (2013) Trajectory Time Reduction using Field of View-based Smoothing of Roadmap-based Paths. AHS 69th Annual Forum, 2013-05-21 - 2013-05-23, Phoenix, AZ, USA.
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Abstract
This work studies an online roadmap-based path planner for an unmanned rotorcraft that is enhanced with a sensorbased trajectory time reduction concept. A recent evaluation of showed that linear roadmap paths under-perform with respect to the enroute trajectory time in urban terrain scenarios. The challenge addressed in this paper is the tradeoff between a runtime efficient but coarse linear online roadmap and computationally more demanding nonlinear collision free path smoothing. An online connection strategy is required that considers motion constraints and the obstacle sensor’s field of view, in order to still allow for feasible connections to the roadmap at higher velocities and in narrow corridors. Our approach proposes a finite horizon connection strategy that considers special cases during hover as opposed to sole forward flight. During the enroute flight, a clamped piecewise cubic spline interpolation is computed in real time and closely fitted along linear path corridors. Simulation results indicate that the proposed approach reduces the trajectory time while the computational overhead is kept low. It benefits from the roadmap’s coarse free space representation such that the computational overhead is minimized. The approach considers approximate rotorcraft kinematics and the obstacle sensor’s field of view for increased motion safety. The concept is compared to benchmark baseline performances where a significant trajectory time reduction is achieved.
Item URL in elib: | https://elib.dlr.de/82379/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
Title: | Trajectory Time Reduction using Field of View-based Smoothing of Roadmap-based Paths | ||||||||||||||||
Authors: |
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Date: | 22 May 2013 | ||||||||||||||||
Refereed publication: | No | ||||||||||||||||
Open Access: | No | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | No | ||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | Unmanned Aircraft, Motion Planning, Benchmarking, Obstacle Field Navigation | ||||||||||||||||
Event Title: | AHS 69th Annual Forum | ||||||||||||||||
Event Location: | Phoenix, AZ, USA | ||||||||||||||||
Event Type: | international Conference | ||||||||||||||||
Event Start Date: | 21 May 2013 | ||||||||||||||||
Event End Date: | 23 May 2013 | ||||||||||||||||
Organizer: | American Helicopter Society (AHS) International, Inc. | ||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
HGF - Program: | Aeronautics | ||||||||||||||||
HGF - Program Themes: | Rotorcraft (old) | ||||||||||||||||
DLR - Research area: | Aeronautics | ||||||||||||||||
DLR - Program: | L RR - Rotorcraft Research | ||||||||||||||||
DLR - Research theme (Project): | L - The Smart Rotorcraft (old) | ||||||||||||||||
Location: | Braunschweig | ||||||||||||||||
Institutes and Institutions: | Institute of Flight Systems > Unmanned Aircraft | ||||||||||||||||
Deposited By: | Adolf, Florian-Michael | ||||||||||||||||
Deposited On: | 09 Sep 2013 15:46 | ||||||||||||||||
Last Modified: | 24 Apr 2024 19:48 |
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