UAV optimal path planning using C-C-C class paths for target touring

Author

Wong, Hong ; Kapila, Vikram ; Vaidyanathan, Ravi

Author_Institution

Dept. of Mech. Aerosp. & Manuf. Eng., Polytech. Univ. Brooklyn, NY, USA

Volume

1

fYear

2004

fDate

17-17 Dec. 2004

Firstpage

1105

Abstract

In this paper, 2-D optimal C-C-C class paths are determined for unmanned air vehicles performing target touring with kinematic and tactical constraints. Using vector calculus, a path-planning problem is decomposed to yield a parameter optimization problem. An efficient hybrid optimization algorithm is then used to solve the parameter optimization problem. Illustrative numerical simulations are given to demonstrate the efficacy of our approach.

Keywords

aerospace robotics; calculus; military aircraft; multi-robot systems; optimisation; remotely operated vehicles; robot kinematics; 2D optimal C-C-C class paths; UAV optimal path planning; circular arc-circular arc-circular arc class primitives; kinematic constraints; parameter optimization; tactical constraints; target touring; unmanned air vehicles; vector calculus; Aerospace engineering; Automotive engineering; Computational complexity; Kinematics; Path planning; Pulp manufacturing; Systems engineering and theory; Turning; Unmanned aerial vehicles; Virtual colonoscopy;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2004. CDC. 43rd IEEE Conference on

Conference_Location

Nassau

ISSN

0191-2216

Print_ISBN

0-7803-8682-5

Type

conf

DOI

10.1109/CDC.2004.1428840

Filename

1428840