Path-Parameterization Approach Using Trajectory Primitives for Three-Dimensional Motion Planning

Pachikara, Abraham; Kehoe, Joseph J.; Lind, Rick

doi:10.1061/(asce)as.1943-5525.0000152

Cited by 4 publications

(1 citation statement)

References 19 publications

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“…Pachikara et. al 10 explores the use of sequential motion primitives to produce a high level motion planner for an aircraft, under environmental constraints.…”

Section: B An Optimisation Schemementioning

confidence: 99%

An Intelligent, Heuristic Path Planner for Multiple Agent Unmanned Air Systems

Crispin

Sóbester

2015

AIAA Infotech @ Aerospace

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In situ observations of atmospheric variables are currently obtained with radiosondes, collecting data along uncontrolled trajectories. As an alternative, we propose an unmanned air system comprising a swarm of unmanned aerial vehicles, released from high altitude weather balloons. Their trajectories are optimised for efficient sampling, with an objective function measuring the space-filling properties of the entire swarm. The dynamics of the aircraft swarm are captured in a number of primitive manoeuvres simulated with JSBSim. A combination of these paths forms a set of moves available to a greedy heuristic algorithm, which determines which of the flyable paths is optimal according to the objective function. At each heuristic optimisation step a decision is made upon the next single move and, once the move is complete, the heuristic repeated, resulting in a stitching together of optimal moves from the flyable set. The proposed path planner comprises of a centralised algorithm, which executes offline, thus, each aircraft executes the heuristic synchronously and the result is a cloud of waypoints to be flown by the swarm. A case study based on orographic flows over South Georgia is used to test the performance of the algorithm in windy environments. The results indicate good performance of the algorithm, even in high, unsteady wind fields. I. MotivationMost commonly, balloon and aircraft launched radiosondes are utilised to collect physical, chemical and biological measurements in the atmosphere. These are predominantly used to assist the modelling of atmospheric processes from large global systems to small localised phenomena. Although relatively easy to deploy, balloon and aircraft launched radiosondes have disadvantages. The sonde is usually lost, which incurs an expense and only data transmitted during the flight can be recovered. The most notable disadvantage is the sparsity of the data collected. The sondes collect their information on an uncontrolled trajectory, determined by the flight of the (on the way up) balloon or the parachute (on the way down), which provides for limited control of the sampling locations.

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“…Pachikara et. al 10 explores the use of sequential motion primitives to produce a high level motion planner for an aircraft, under environmental constraints.…”

Section: B An Optimisation Schemementioning

confidence: 99%

An Intelligent, Heuristic Path Planner for Multiple Agent Unmanned Air Systems

Crispin

Sóbester

2015

AIAA Infotech @ Aerospace

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Improved UCAV Attack Trajectory Planning Algorithm Based on GWO and Dubins Curve

Huang¹,

Shen²,

Zhang³

et al. 2023

Lecture Notes in Electrical Engineering

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AMR is widely used in factories to replace manual labor to reduce costs and improve efficiency. However, it is often difficult for logistics robots to plan the optimal trajectory and unreasonable trajectory planning can lead to low transport efficiency and high energy consumption. In this paper, we propose a method to directly calculate the optimal trajectory for short distance on the basis of the Dubins set, which completes the calculation of the Dubins path. Additionally, as an improvement of Dubins path, we smooth the Dubins path based on clothoid, which makes the curvature varies linearly. AMR can adjust the steering wheels while following this trajectory. The experiments show that the Dubins path can be calculated quickly and well smoothed.

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