DocumentCode :
2688044
Title :
A path planning algorithm for UAVs with limited climb angle
Author :
Neto, Armando A. ; Campos, Mario F M
Author_Institution :
Comput. Sci. Dept., Fed. Univ. of Minas Gerais, Minas Gerais, Brazil
fYear :
2009
fDate :
10-15 Oct. 2009
Firstpage :
3894
Lastpage :
3899
Abstract :
In this paper we present a methodology based on a variation of the spatial pythagorean hodograph curves to generate smooth feasible paths for autonomous vehicles in three-dimensional space under the restriction of limited climb angles. An fast iterative algorithm is used to calculate the curve. The generated path satisfy three main angular constraints given by the vehicle: (i) maximum curvature, (ii) maximum torsion and (iii) maximum climb (or dive). A path is considered feasible if these kinematic constraints are not violated. The smoothness vehicle´s acceleration profile is indirectly guaranteed between two points. The proposed methodology is applicable to vehicles that move in three-dimensional environments, and that can be modeled by the constraints considered here. We show results for small aerial vehicle.
Keywords :
aerospace robotics; aircraft control; mobile robots; path planning; remotely operated vehicles; UAV; angular constraints; fast iterative algorithm; kinematic constraints; limited climb angles; maximum climb constraint; maximum curvature constraint; maximum torsion constraint; path planning algorithm; spatial pythagorean hodograph curves; Acceleration; Aircraft; Interpolation; Iterative algorithms; Kinematics; Mobile robots; Path planning; Remotely operated vehicles; Space vehicles; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
Type :
conf
DOI :
10.1109/IROS.2009.5354604
Filename :
5354604
Link To Document :
بازگشت