Path Planning of Rotorcrafts in Unknown Environment

被引：0

作者：

Lai Shupeng ^{[1
]}

Wang Kangli ^{[2
]}

Li Kun ^{[2
]}

Chen, Ben M. ^{[2
]}

机构：

[1] NUS, NUS Grad Sch Integrat Sci & Engn, Singapore 117456, Singapore

[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117582, Singapore

来源：

PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年

关键词：

Path planning; Trajectory generation; Rotorcraft;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we introduced an online path planning method which is able to be implemented on micro rotorcrafts with limited payload and computational power. The method enables automatic flight of such vehicles in GPS-denied and obstaclestrewn environments by adopting efficient trajectory generation algorithms. A series of two point boundary value problem (TPBVP) is solved analytically to formulate the overall path. Advantages of the proposed approach includes its stability and efficiency thanks to the closed-form solution to each trajectory segment. The result has been realized and demonstrated on real rotorcrafts. The video of flight tests can be found at: http://uav.ece.nus.edu.sg/robust-online-path-planning-Lai2015.html

引用

页码：10900 / 10905

页数：6

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