Rapid Multi-Query Path Planning For A Vertical Take-Off and Landing Unmanned Aerial Vehicle

Adolf, Florian-Michael; Andert, Franz

doi:10.2514/1.52692

Cited by 16 publications

(14 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In refs. [3,11] this approach has been extended for the online case with incomplete a priori terrain knowledge. When flying at low speeds, it may be admissible to model a rotorcraft as a holonomic vehicle due to its hover capability.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Schopferer¹,

Adolf²

2015

J Intell Robot Syst

View full text Add to dashboard Cite

Onboard and online flight path planning for small-scale unmanned rotorcraft requires efficient algorithms in order to meet real-time constraints. In a priori unknown environment, rapid replanning is necessary in order to maintain a safe clearance when new obstacles are detected. The complexity of the planning problem varies vastly with the required flight path qualities and the complexity of the environment.In most scenarios flight paths should be smooth and time-efficient and always feasible to fly. Therefore, the rotorcraft's flight dynamics must be accounted for. Decoupled planning approaches have been proven to solve this problem very efficiently by dividing the problem into sequentially solvable subproblems. However, this computational efficiency comes at the cost of having to compromise on the flight path quality. In this work, we present a decoupled planning approach that has been integrated with our midiARTIS helicopter in order to perform onboard path planning when flying through a priori unknown environment. The approach involves roadmap-based global path planning and local path refinement with cubic splines. It allows to plan safe, dynamically feasible and timeefficient flight paths with limited onboard processing power. We present simulation results from a set of benchmark scenarios in complex urban terrain as well as results from flight testing of a closed-loop obstacle avoidance maneuver with virtual obstacle mapping. Our results demonstrate that close-to-optimal flight paths can be planned with a decoupled planning approach, if heuristics and simplifications for each planning step are carefully chosen.

show abstract

Section: Related Workmentioning

confidence: 99%

“…[1,3]. It uses a deterministic, quasi-random sampling technique, that provides good sample discrepancy and sample dispersion.…”

Section: Sampling-based Global Path Planningmentioning

confidence: 99%

Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Schopferer¹,

Adolf²

2015

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…The second order integrator allows us to specify a desired velocity along the path later on. Now, the optimization problem can be defined: Given the closed-loop approximation according to (1) and a path of the form (5), calculate the time-wise progress θ : [θ 0 , θ 1 ] → [t 0 ,t 1 ] and the inputs u, such that (a) the constraints are satisfied, (b) the progress on the path is positive (θ > 0) and (c) the cost function is minimized:…”

Section: Problem Formulationmentioning

confidence: 99%

“…), Institute of Flight Systems, Braunschweig, Germany, email: johann.dauer@dlr.de Timm Faulwasser Laboratoire d'Automatique,École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland e-mail: timm.faulwasser@epfl.ch Sven Lorenz German Aerospace Center (DLR e.V. ), Institute of Flight Systems, Braunschweig, Germany, email: sven.lorenz@dlr.de a path has been provided, either by the mission specification or by means of a path planner, as presented e. g. in [1]. Furthermore, we assume that there exists a flight control system handling the stabilization of the helicopter, which allows deriving an approximation of the closed-loop dynamics, see e. g. [11].…”

Section: Introductionmentioning

confidence: 99%

Computational Aspects of Optimization-Based Path Following of an Unmanned Helicopter

Dauer

Faulwasser

Lorenz

2016

Mathematics in Industry

View full text Add to dashboard Cite

This paper considers the path following of unmanned helicopters based on dynamic optimization. We assume that the helicopter is equipped with a flight control system which provides an approximation of its closed-loop dynamics. The task at hand is to derive inputs for this flight control system in order to track a geometrically specified path. A concise problem formulation and a discussion of an efficient implementation is presented. This implementation achieves computation times below the flight duration of the path by exploiting differential flatness of components of the dynamics. Finally, we present quantitative results in respect to convergence and required iterations for a challenging nonlinear path. We show that the proposed optimization based approach is capable of tackling nonlinear path following for helicopters in an efficient manner.

show abstract

“…[1], [2], [3]. While the path-planner determines safe geometric paths through the obstacle field [4], the flight control system stabilizes the helicopter and provides the interface to steer the helicopter along the path [1], [2], [3]. Alternatively, planning can be done using motion primitives [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Run-to-run disturbance rejection for feedforward path following of an adaptively controlled unmanned helicopter

Dauer

Faulwasser

Lorenz

2015

2015 IEEE Conference on Control Applications (CCA)

View full text Add to dashboard Cite

Abstract-We present a scheme for run-to-run disturbance rejection in optimization-based feedforward path following of a remotely piloted aircraft system (RPAS). The proposed scheme is based on the inter-run estimation of unknown disturbances, such as wind induced forces and model uncertainties. These disturbance estimates are introduced in an optimal control problem used to compute feedforward controls. In order to achieve good run-to-run disturbance rejection, the structure of the underlying stabilizing flight control of the RPAS is taken into account. In this work, we consider flight control based on adaptive reference following and the special case of the unmanned helicopter ARTIS. We present simulation results and flight test data. These results underpin that the proposed approach significantly decreases flight path deviations in a runto-run fashion.

show abstract

Rapid Multi-Query Path Planning For A Vertical Take-Off and Landing Unmanned Aerial Vehicle

Cited by 16 publications

References 29 publications

Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Computational Aspects of Optimization-Based Path Following of an Unmanned Helicopter

Run-to-run disturbance rejection for feedforward path following of an adaptively controlled unmanned helicopter

Contact Info

Product

Resources

About