Author : Emre Koyuncu
Release : 2010
Genre :
Kind : eBook
Book Rating : 787/5 ( reviews)
Book Synopsis Dynamically Feasible Probabilistic Motion Planning in Complex Environments for UAVs by : Emre Koyuncu
Download or read book Dynamically Feasible Probabilistic Motion Planning in Complex Environments for UAVs written by Emre Koyuncu. This book was released on 2010. Available in PDF, EPUB and Kindle. Book excerpt: Trajectory design of an air vehicle in dense and complex environments, while pushing the limits of the vehicle to full performance is a challenging problem in two facets. The first facet is the control system design over the full flight envelope and the second is the trajectory planning utilizing the full performance of the aircraft. In this work, we try to address the mostly second facet via the generating dynamically feasible trajectory planning. Hence, a real-time implementable two step planner strategy is implemented for obtaining 3D flight-path generation for an Unmanned Aerial Vehicles in 3D Complex environments. Thus simplifications on the problem improved the real time implement ability. In our approach, initially, simplified version of the RRT planner is used for rapidly exploring the environment with an approximate line segments. The resulting connecting path is converted into flight way points through a line-of-sight segmentation. In second step, we explained two different methods to generate dynamically feasible trajectory. First one that we called Modal-Maneuver Based PRM Planner is developed for agile unmanned aerial vehicles that their maneuvers can be define with distinct modes. This allows significant decreases in control input space and thus search dimensions. In this approach the resulting connectivity path and the corresponding milestones are refined with a single query Probabilistic Road Map (PRM) implementation that creates dynamically feasible flight paths with distinct flight mode selections and their modal control inputs. In our second approach, remaining way points are connected with cubic (C2 continuous) B-Spline curve and this curve is repaired probabilistically to obtain a geometrically (prevents collisions) and dynamically feasible (considers velocity and acceleration constraints) path. At the end, the time scaling approach allow dynamic achievability considering the velocity and acceleration limits of the aircrafts. Resulting strategy is tested on real-time physical hardware system using ITU CAL mobile robot testbed for 2D environments and simulations for 3D complex environments. Computational times showed satisfactory results to used for real time implementation for UAVs operations in challenging urban environments.
