SMOOTHED HEX-GRID TRAJECTORY PLANNING USING HELICOPTER DYNAMICS

Lukáš Chrpa, Antonín Komenda

Abstract

Considering Unmanned Autonomous Vehicles (UAVs) the planning tasks mainly consist of finding paths between given waypoints with respect to given constraints. In this paper we developed a path planning system for flying UAVs (VTOLs and CTOLs) built upon Hexagonal grids which also supports simple dynamics (handling with speed). The planning system is additionally supported by a trajectory smoothing mechanism based on a dynamics model of a helicopter. The model can be also used for the simulation of the helicopter movement.

References

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Paper Citation


in Harvard Style

Chrpa L. and Komenda A. (2011). SMOOTHED HEX-GRID TRAJECTORY PLANNING USING HELICOPTER DYNAMICS . In Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8425-40-9, pages 629-632. DOI: 10.5220/0003184106290632


in Bibtex Style

@conference{icaart11,
author={Lukáš Chrpa and Antonín Komenda},
title={SMOOTHED HEX-GRID TRAJECTORY PLANNING USING HELICOPTER DYNAMICS},
booktitle={Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2011},
pages={629-632},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003184106290632},
isbn={978-989-8425-40-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - SMOOTHED HEX-GRID TRAJECTORY PLANNING USING HELICOPTER DYNAMICS
SN - 978-989-8425-40-9
AU - Chrpa L.
AU - Komenda A.
PY - 2011
SP - 629
EP - 632
DO - 10.5220/0003184106290632