This paper presents a collision-free motion-primitive-based motion planning algorithm for a fixed-wing robotic aircraft. The motion primitives are parameterized in the space of the control input vector, under the consideration of time-delay caused by actuator dynamics and the inherent nonlinearity of the aircraft, which providing a practical way to enable a fast and efficient flight. The corresponding control input vector are obtained through algebraic calculation based on waypoint’s location and flight parameters. Then, considering the dense obstacles in the field, a modified algorithm is developed to generate safe bearings towards the next waypoint. The effectiveness of proposed algorithm is verified in a simulated obstacle-rich field.
Collision-Free Motion-Primitive-Based Motion Planning Algorithm for Fixed-Wing Robotic Aircraft
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022
2023-01-31
10 pages
Article/Chapter (Book)
Electronic Resource
English
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