SMOOTHED HEX-GRID TRAJECTORY PLANNING USING HELICOPTER DYNAMICS

Lukáš Chrpa, Antonín Komenda

2011

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

  1. Anderson, E. P., Beard, R. W., and McLain, T. W. (2005). Real time dynamic trajectory smoothing for uninhabited aerial vehicles. IEEE Transactions on Control Systems Technology, 13(3):471-477.
  2. Bottasso, C. L., Leonello, D., and Savini, B. (2008). Path planning for autonomous vehicles by trajectory smoothing using motion primitives. IEEE Transactions on Control Systems Technology, 16(6):1152- 1168.
  3. Hart, P., Nilsson, N., and Raphael, B. (1968). A formal basis for the heuristic determination of minimum cost paths. IEEE Transactions on Systems Science and Cybernetics, 4(2):100 -107.
  4. Kavraki, L. E., Svestka, P., Latombe, J. C., and Overmars, M. H. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12:566- 580.
  5. Meister, O., Frietsch, N., Ascher, C., and Trommer, G. F. (2009). Adaptive path planning for vtol-uavs. Aerospace and Electronic Systems Magazine, IEEE, 24(7):36-41.
  6. S?is?lák, D., Pe?chouc?ek, M., Volf, P., Pavlíc?ek, D., Samek, J., Ma?rík, V., and Losiewicz, P. (2008). Defense Industry Applications of Autonomous Agents and Multi-Agent Systems, chapter AGENTFLY: Towards Multi-Agent Technology in Free Flight Air Traffic Control, pages 73-97. Birkhauser Verlag.
  7. Wang, K.-H. C. and Botea, A. (2009). Tractable multi-agent path planning on grid maps. In Proceedings of IJCAI, pages 1870-1875.
  8. Wzorek, M. and Doherty, P. (2006). Reconfigurable path planning for an autonomous unmanned aerial vehicle. In Proceedings of ICAPS, pages 438-441.
  9. Yap, P. (2002). Grid-based path-finding. In Canadian Conference on AI, pages 44-55.
Download


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