We present a runtime efficient approach to sampling-based path planning for fixed-wing unmanned aerial vehicles (UAV) based on line-graphs. Accounting for flight performance limits and the local prevailing wind, path planning is computationally expensive especially in 3D obstacle environments. A common approach is to solve the problem successively, i.e. to plan collision free paths, which are then transformed into feasible paths. However, this may compromise planning completeness if path smoothing fails. We show that line-graphs based on 3D probabilistic roadmaps can be used to effectively decouple the planning problem. The roadmap serves as a persistent free space representation of the environment and the corresponding linegraph is used to incorporate kinematic constraints to respect the fixed-wing flight performance limits in wind. Applying the A∗ graph-search on the line-graph instead of the 3D roadmap allows to efficiently find paths that respect these kinematic constraints without relying on path smoothing. Our results show that the presented approach can be used for near-realtime multi-query planning with varying wind conditions and flight performance constraints.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A line-graph path planner for performance constrained fixed-wing UAVs in wind fields


    Beteiligte:


    Erscheinungsdatum :

    2017-06-01


    Format / Umfang :

    588979 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Robust Wind-Aware Path Optimization Onboard Small Fixed-wing UAVs

    Bucher, Thomas / Stastny, Thomas / Verling, Sebastian et al. | TIBKAT | 2023


    Robust Wind-Aware Path Optimization Onboard Small Fixed-wing UAVs

    Bucher, Thomas / Stastny, Thomas / Verling, Sebastian et al. | AIAA | 2023


    Path-Following Control of Small Fixed-Wing UAVs under Wind Disturbance

    Pengyun Chen / Guobing Zhang / Jiacheng Li et al. | DOAJ | 2023

    Freier Zugriff

    Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs

    Wolsieffer, Ben / Quattrini Li, Alberto | Springer Verlag | 2024


    Robust Autonomous Landing of Fixed-Wing UAVs in Wind

    Fridén, Tobias | BASE | 2020

    Freier Zugriff