Smoothed hex-grid trajectory planning using helicopter dynamics

Lukáš Chrpa, Antonín Komenda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Considering Unmanned Autonomous Vehicles (UAVs) the planning tasks mainly consist of finding paths between given waypoints with respect to given constraints. In this paper we developed a path planning system for flying UAVs (VTOLs and CTOLs) built upon Hexagonal grids which also supports simple dynamics (handling with speed). The planning system is additionally supported by a trajectory smoothing mechanism based on a dynamics model of a helicopter. The model can be also used for the simulation of the helicopter movement.

Original languageEnglish
Title of host publicationProceedings of the 3rd International Conference on Agents and Artificial Intelligence (ICAART), (Rome, 28-30 January 2011)
EditorsJoaquim Filipe, Ana Fred
Pages629-632
Number of pages4
Volume1
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event3rd International Conference on Agents and Artificial Intelligence - Rome, Italy
Duration: 28 Jan 201130 Jan 2011

Conference

Conference3rd International Conference on Agents and Artificial Intelligence
Abbreviated titleICAART 2011
CountryItaly
CityRome
Period28/01/1130/01/11

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  • Cite this

    Chrpa, L., & Komenda, A. (2011). Smoothed hex-grid trajectory planning using helicopter dynamics. In J. Filipe, & A. Fred (Eds.), Proceedings of the 3rd International Conference on Agents and Artificial Intelligence (ICAART), (Rome, 28-30 January 2011) (Vol. 1, pp. 629-632) https://doi.org/10.5220/0003184106290632