Autonomous Unmanned Aerial Vehicles (UAV) havegreat potential in executing various complex tasks due to theirflexibility and relatively small size. The aim of this paper is todevelop a motion planner capable of generating a trajectory withaggressive maneuvers through narrow spaces without collision.The approach utilizes a framework using an optimized variantof the Rapidly-exploring Random Tree (RRT) algorithm, calledRRT*, with a Control Barrier Functions (CBF) based obstacleavoidance algorithm as well as a motion primitive generator. If amotion primitive collides with an obstacle, the obstacle avoidancealgorithm will attempt to reach the end state of a motion primitivein a collision free manner while complying with the actuationconstraints. From the collision free trajectories an optimal path iscontinuously searched for by RRT* by minimizing a cost in jerk.The performance of RRT* and the obstacle avoidance are testedin simulations independently and jointly, in several differentscenarios. The resulting motion planner successfully finds ahigh-level trajectory for the different scenarios. Limitations ofthe method as well as possible areas of improvements are alsodiscussed at the end of this paper. ; Autonoma UAV har goda möjligheter för att utföra flera olika komplexa uppgifter tack vare deras flexibilitet och storlek. Denna rapport redogör för en rörelseplaneringsalgoritm som kombinerar manövrerbarheten hos en UAV för att skapa en kollisionsfri bana som innehåller aggressiva manövreringar genom trånga utrymmen. Tillvägagångssättet innefattar att kombinera Rapidly-exploring Random Tree (RRT*) med en algoritm för att undvika hinder baserad på Control Barrier Functions (CBF), samt att låta banan delas upp i segment, så kallade motion primitives, som genereras var för sig. Om en motion primitive kolliderar kommer den hinderundvikande algoritmen göra ett försök att nå dess målposition medan kollision undviks och manövreringsbegränsningarna uppfylls. Med en samling genomförbara motion primitives söker RRT* efter en ...


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Motion Planning for Aggressive Flights of an Unmanned Aerial Vehicle


    Beteiligte:
    Medén, Alexander (Autor:in) / Warberg, Erik (Autor:in)

    Erscheinungsdatum :

    2021-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Motion Planning for Aggressive Flights of an Unmanned Aerial Vehicle

    Skjernov, Fredrik / Palfelt, Oscar | BASE | 2020

    Freier Zugriff

    Motion Planning for Aggressive Flights of an Unmanned Aerial Vehicle

    Smith, Cornelia / Femic, Filippa | BASE | 2022

    Freier Zugriff

    Predicting Future Unmanned Aerial System Flights

    Wieland, F. / Sharma, R. / Watulak, D. | British Library Conference Proceedings | 2013


    Global Motion Planning for Unmanned Aerial Vehicle Automation

    Olou, Herve B. / Ezin, Eugene C. / Dembele, Jean Marie et al. | IEEE | 2023


    METHOD AND SYSTEM FOR CONTROLLING CLUSTER FLIGHTS OF UNMANNED AERIAL VEHICLE

    MOON SUNG TAE / LEE DON GOO / KIM DO YOON | Europäisches Patentamt | 2021

    Freier Zugriff