This paper presents a path planning algorithm for tilt-wing UAV that considers the flight dynamic constraints while planning the path. Being able to perform thrust-borne vertical take-off and landing as well as efficient wing-borne flight, tilt-wing aircraft offer multiple benefits in unmanned aerial vehicle applications. Applications that involve flying in airspaces not used exclusively by the tilt-wing UAV require the ability to avoid collisions with other manned and unmanned airspace users to ensure reliable and safe operation. Known approaches for collision avoidance either do not consider flight dynamic constraints during the path planning or use avoidance controllers instead of a planned path. The presented algorithm modifies the Constrained Wavefront Expansion (COWEX) algorithm to estimate the movement of the tilt-wing UAV as well as the intruder aircraft to be avoided at each planning step. This allows the modified COWEX algorithm to expand its avoidance capabilities from only static obstacles to moving aircraft. The algorithm is implemented for a simulated tilt-wing UAV and validated by solving a variety of standard and non standard avoidance scenarios.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modified Constrained Wavefront Expansion Path Planning Algorithm for Tilt-Wing UAV


    Contributors:


    Publication date :

    2022-06-21


    Size :

    1854747 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Safety Procedure Using Path Planning Methods for Tilt-Wing Unmanned Aerial Vehicles

    Konig, Eva / Seitz, Sebastian / Voget, Nicolai et al. | IEEE | 2023


    Hybrid Tilt Propeller/Tilt Wing Aircraft

    WYGNANSKI ISRAEL / TAUBERT LUTZ / OL MICHAEL | European Patent Office | 2024

    Free access

    Hybrid Tilt Propeller/Tilt Wing Aircraft

    WYGNANSKI ISRAEL / TAUBERT LUTZ / OL MICHAEL | European Patent Office | 2024

    Free access

    TILT-WING AIRCRAFT

    KROO ILAN / MARTINS-RIVAS HERVE / ALLISON ERIC | European Patent Office | 2020

    Free access

    TILT-WING AIRCRAFT

    KROO ILAN / MARTINS-RIVAS HERVE / ALLISON ERIC | European Patent Office | 2018

    Free access