Motion primitives and 3-D path planning for fast flight through a forest

Abstract

This paper presents two families of motion primitives for enabling fast, agile flight through a dense obstacle field. The first family of primitives consists of a time-delay dependent 3D circular path between two points in space and the control inputs required to fly the path. In particular, the control inputs are calculated using algebraic equations which depend on the flight parameters and the location of the waypoint. Moreover, the transition between successive maneuver states, where each state is defined by a unique combination of constant control inputs, is modeled rigorously as an instantaneous switch between the two maneuver states following a time delay which is directly related to the agility of the robotic aircraft. The second family consists of aggressive turn-around (ATA) maneuvers which the robot uses to retreat from impenetrable pockets of obstacles. The ATA maneuver consists of an orchestrated sequence of three sets of constant control inputs. The duration of the first segment is used to optimize the ATA for the spatial constraints imposed by the turning volume. The motion primitives are validated experimentally and implemented in a simulated receding horizon control (RHC)-based motion planner. The paper concludes with inverse-design pointers derived from the primitives.

Review Algoritma C-Theta* dan Prospek Implementasinya di Masa Depan

“…Robot udara memerlukan motion planning untuk pergerakan robot. Setiap putaran yang dilakukan oleh robot untuk berganti arah memerlukan waktu dan lengkungan yang tepat dalam prosesnya [12].…”

“…C-Theta* merupakan algoritma yang dikhususkan bagi visibility graphs dan grids, sedangkan algoritma yang digunakan oleh [12] dan [13] pada tahap pengujian adalah algoritma RTT dan SPP sebagai pengembangan dari RTT. Kedua algoritma tersebut dapat digunakan pada masalah perjalanan apapun [14].…”

Toward a real-time framework for solving the kinodynamic motion planning problem

“…al. developed a steering function for a kinodynamic planning problem that relies on motion primitives [12]. The analytical treatment of these primitives require that they be rigorously tailored to a single, specific set of dynamics.…”

Simulation of a Flapping Wing UAV using a Coupled CFD-Control Tool

“…[1][2][3][4][5][6] Dense obstacle fields in these settings (i.e., trees, buildings, bridges) and the effects these obstacles have on flow conditions provide a dangerous environment for unmanned vehicle operations. To address the challenges for UAVs in these areas where traditional vehicle technologies have not proven effective, researchers are looking for novel solutions, and some are turning to biology for inspiration.…”