A preliminary study on local path planning algorithms for high-altitude long endurance UAVs

• Autorzy: Kosior Mateusz , Przystałka Piotr , Panfil Wawrzyniec , Moczulski Wojciech , Sivertsen Agnar H.
• Języki publikacji: EN

Abstrakty

EN

Carful planning of the flight is equally important for both manned and unmanned aerial operations. The paper addresses the problem of local path planning and static obstacle avoidance for an autonomous HALE-class fixed-wing UAV. Presented idea combines Dubins airplane model with Rapidly-exploring Random Tree algorithms to find a kinematically admissible and obstacle-free path through a 3D obstacle map. The algorithm is developed to be finally deployed on an embedded platform, thus it favors simplicity and computation performance, while maintaining probabilistic optimality. The paper begins with a short introduction and the research background. Then, used algorithms are described and discussed, followed by their verification in simulation environment using airplane guidance models. Conclusions are future remarks complete the paper.

Słowa kluczowe

EN

control algorithms

PL

algorytmy sterowania

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Prace Naukowe Politechniki Warszawskiej. Elektronika
• Rocznik: 2022
• Tom: z. 197, t. 1
• Strony: 93--104
• Opis fizyczny: Bibliogr. 21 poz., rys., tab.

Twórcy

autor

Kosior Mateusz

• Politechnika Śląska, Katedra Konstrukcji Maszyn, Gliwice

autor

Przystałka Piotr

• Politechnika Śląska, Katedra Konstrukcji Maszyn, Gliwice

autor

Panfil Wawrzyniec

• Politechnika Śląska, Katedra Konstrukcji Maszyn, Gliwice

autor

Moczulski Wojciech

• Politechnika Śląska, Katedra Konstrukcji Maszyn, Gliwice

autor

Sivertsen Agnar H.

• NORCE Norwegian Research Centre AS, Tromso, Norway

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).