Bernhard Weiß, Michael Naderhirn, Luigi del Re,
"Global Real-Time Path Planning for UAVs in Uncertain Environment"
: Proceedings of the 2006 IEEE International Conference on Control, 2006
Original Titel:
Global Real-Time Path Planning for UAVs in Uncertain Environment
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of the 2006 IEEE International Conference on Control
Original Kurzfassung:
In this work we introduce a real-time path planning
method for Unmanned Aerial Vehicles (UAVs) in uncertain
environment. The kinematic system of the vehicle is therefore heuristically reduced to a set of feasible trim trajectories. The local operating Iterative Step Method (ISM) sequentially determines the next best trim trajectory, which minimizes a local cost-function. By varying the respective weighting factors, it’s possible to get a trade off between path length and risk of the path. The local ISM is then integrated in a graph-based search of the best global by using the algorithm of Dijkstra.
Finally a procedure for the real time use of the global path planner is presented.
Sprache der Kurzfassung:
Deutsch
Erscheinungsjahr:
2006
Anzahl der Seiten:
6
Notiz zur Publikation:
Proceedings of the 2006 IEEE International Conference on Control Applications Munich, Germany, October 4-6, 2006, pp. 2725-2730
Forschungs-