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Rapid Trajectory Time Reduction for Unmanned Rotorcraft Navigating in Unknown Terrain

Schopferer, Simon and Adolf, Florian-Michael (2014) Rapid Trajectory Time Reduction for Unmanned Rotorcraft Navigating in Unknown Terrain. ICUAS 2014, 27.-30. Mai 2014, Orlando, FL, USA.

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Abstract

Onboard and online flight path planning for smallscale unmanned rotorcraft requires very efficient algorithms in order to meet runtime constraints. When flying through a priori unknown environment, rapid replanning is necessary in order to maintain a safe obstacle clearance. The complexity of the planning problem rises vastly when trying to minimize flight time. This is because the helicopter’s flight dynamics must be accounted for in order to produce paths which the helicopter can follow safely at high speeds. Building on the success of sampling-based planning algorithms, decoupled approaches that separate the planning of collision free and dynamically feasible flight paths into sequential steps have been shown to solve the problem very efficiently. However, these approaches may produce suboptimal results or may even fail to provide valid flight paths at all. Addressing these problems, we present an approach for planning safe, dynamically feasible and time efficient flight paths using cubic splines. Trying to reduce trajectory time, we consider the influence of path smoothing and refinement measures on the quality of the resulting flight paths and on the reliability of the planning procedure. We present comparative results in a range of benchmark scenarios, including flight through urban terrain, to evaluate the overall mission performance.

Item URL in elib:https://elib.dlr.de/89508/
Document Type:Conference or Workshop Item (Speech)
Title:Rapid Trajectory Time Reduction for Unmanned Rotorcraft Navigating in Unknown Terrain
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schopferer, Simonsimon.schopferer (at) dlr.deUNSPECIFIED
Adolf, Florian-Michaelflorian.adolf (at) dlr.deUNSPECIFIED
Date:30 May 2014
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:UAS, Unmanned Rotorcraft, Trajectory Planning, Online Navigation, Cubic Splines
Event Title:ICUAS 2014
Event Location:Orlando, FL, USA
Event Type:international Conference
Event Dates:27.-30. Mai 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Schopferer, Simon
Deposited On:18 Jun 2014 13:33
Last Modified:07 Oct 2014 12:23

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