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.


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    Title :

    Collision-Free Motion-Primitive-Based Motion Planning Algorithm for Fixed-Wing Robotic Aircraft


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Zhao, Xinyi (author) / Du, Hang (author) / Lu, Hanchen (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022



    Publication date :

    2023-01-31


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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