Geometry of Translational Trajectories for an Autonomous Vehicle With Wind Effect

Bestaoui, Yasmina; Dahmani, H.; Belharet, Karim

doi:10.2514/6.2009-1352

Cited by 8 publications

(6 citation statements)

References 13 publications

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“…Using the Frenet-Serret formulation [21], the curvature χ can be deduced ( represents the derivation versus s)…”

Section: Parametric Curvesmentioning

confidence: 99%

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Mission plan under uncertainty for an autonomous aircraft

Bestaoui

2010

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this article, a path planning system is presented, which enables the vehicle to move in a non-predefined way. Taking into account the situation detected by the sensors and on the basis of a spatial-temporal criterion, the proposed system is able to decide whether a new reference trajectory must be planned. If an update is necessary, the reference is computed taking into account the measured states (the three-dimensional (3D) positions, the flight path and heading angles, as well as the velocity), the limitations on curvature and torsion, and the next way-point that could be the final destination. As the simple geometric path planning procedure presented in this article can be implemented in real time, updated paths can easily be generated to accommodate a slowly drifting wind direction and/or wind speed.

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“…Using the Frenet-Serret formulation [21], the curvature χ can be deduced ( represents the derivation versus s)…”

Section: Parametric Curvesmentioning

confidence: 99%

“…The shape of a space curve can be completely captured by its curvature and torsion. Using the Frenet-Serret formulation [21], the curvature χ can be deduced ( represents the derivation versus s)…”

Section: Parametric Curvesmentioning

confidence: 99%

Mission plan under uncertainty for an autonomous aircraft

Bestaoui

2010

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…The proposed algorithm uses a sequence of five elementary trim trajectories to generate a three-dimensional global trajectory in space. Bestaoui et al (2009) analysed the geometry of translational optimal trajectories taking into account wind effect.…”

Section: Introductionmentioning

confidence: 99%

3D curves with a prescribed curvature and torsion for an aerial robot

Bestaoui¹

2011

IJCAT

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The objective of this paper is to generate a desired flight path to be followed by an aerial robot. A curve with discontinuous curvature and torsion is not appropriate for smooth motions for any vehicle architecture. The flyable path should be smooth, i.e. without twists and cusps. The smoothness of the path is determined by amount of bending of the path, measured by curvature and torsion of the path. Three different classes of curves are presented. First, constant curvature and torsion followed by a linear variation versus the curvilinear abscissa then a quadratic variation. Finally, the problem of manoeuvre between two trim helices of different curvature and torsion is tackled.

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“…In general, the optimality of a trajectory can be defined according to several objectives, like minimizing the transfer time or the energy [16,18,29,51,85,144]. In general, the optimality of a trajectory can be defined according to several objectives, like minimizing the transfer time or the energy [16,18,29,51,85,144].…”

Section: Introductionmentioning

confidence: 99%

Lighter than Air Robots

Sebbane

2012

Intelligent Systems, Control and Automation: Science and Engineering

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No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work.Cover design: VTeX UAB, Lithuania

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Geometry of Translational Trajectories for an Autonomous Vehicle With Wind Effect

Cited by 8 publications

References 13 publications

Mission plan under uncertainty for an autonomous aircraft

Mission plan under uncertainty for an autonomous aircraft

3D curves with a prescribed curvature and torsion for an aerial robot

Lighter than Air Robots

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