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Multi-query Path Planning for an Unmanned Fixed-Wing Aircraft

Niendorf, Moritz and Schmitt, Fabian and Adolf, Florian-Michael (2013) Multi-query Path Planning for an Unmanned Fixed-Wing Aircraft. AIAA Guidance, Navigation, and Control (GNC) Conference, 2013-08-19 - 2013-08-22, Boston, MA, USA. doi: 10.2514/6.2013-4791.

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Official URL: http://arc.aiaa.org/doi/pdfplus/10.2514/6.2013-4791


Path planning for fixed-wing aircraft in obstacle rich environments requires the consideration of the motion constraints of the aircraft. Most existing motion planning algorithms for systems with dynamics are single query planners, which leads to a large computation overhead if multiple path planning problems are solved. This paper presents a roadmap-based multi-query path planner which generates feasible paths for a simplified dynamics model of a fixed-wing unmanned aircraft. Due to the multi-query property multiple path queries can be solved efficiently once the roadmap is constructed. Quasi-random Hammersley sets are used to place samples in a four dimensional configuration space to account for the motion constraints of the aircraft, which is modeled by the superposition of a Dubins vehicle in the horizontal plane and a double integrator with state and input constraint in the vertical plane. The optimization of roadmap parameters and post-processing of paths are discussed in detail. Simulation results show the applicability of the suggested planner.

Item URL in elib:https://elib.dlr.de/83995/
Document Type:Conference or Workshop Item (Speech)
Title:Multi-query Path Planning for an Unmanned Fixed-Wing Aircraft
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Niendorf, MoritzUniversity of Michigan, Ann ArborUNSPECIFIEDUNSPECIFIED
Schmitt, FabianUniversity of the German Federal Armed ForcesUNSPECIFIEDUNSPECIFIED
Date:20 August 2013
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:UAV, Motion Planning, Sampling-based Motion Planning, Path Planning, Task Scheduling
Event Title:AIAA Guidance, Navigation, and Control (GNC) Conference
Event Location:Boston, MA, USA
Event Type:international Conference
Event Start Date:19 August 2013
Event End Date:22 August 2013
Organizer:The American Institute of Aeronautics and Astronautics (AIAA)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research (old)
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems & Cabin (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Adolf, Florian-Michael
Deposited On:11 Sep 2013 12:18
Last Modified:24 Apr 2024 19:50

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