Large unmanned aerial systems (UAS) pose risks when they fly over inhabited areas. This paper presents a motion planning approach to minimize these risks by determining risk optimal motions for a fixed-wing UAS. This approach estimates the crash probability distribution (CPD) of a UAS as a function of its current state in the configuration space, which allows for planning risk optimal UAS maneuvers. This approach also includes several new extensions to the RRT# algorithm for optimal motion planning, including a method for using an initial solution within RRT# and a new method for locally computing the connection radius which RRT# uses to connect configurations together. A new method for handling threedimensional (3D) Dubins curves for a fixed-wing UAS is also proposed in order to handle the risk objective considered. The approach is tested on an example takeoff trajectory planning problem in which a UAS must climb to a set cruising altitude at a predetermined location and heading; the results illustrate several trade-offs between risk and flight time that make use of how the UAS’s CPD varies with its current state.
Planning Unmanned Aerial System (UAS) Takeoff Trajectories To Minimize Third-Party Risk
2019-06-01
1086491 byte
Conference paper
Electronic Resource
English
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