Smoothed hex-grid trajectory planning using helicopter dynamics

Lukáš Chrpa, Antonín Komenda

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

7 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.

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

Fingerprint

Helicopters
Trajectories
Planning
Motion planning
Dynamic models

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
Chrpa, Lukáš ; Komenda, Antonín. / Smoothed hex-grid trajectory planning using helicopter dynamics. Proceedings of the 3rd International Conference on Agents and Artificial Intelligence (ICAART), (Rome, 28-30 January 2011). editor / Joaquim Filipe ; Ana Fred. Vol. 1 2011. pp. 629-632
@inproceedings{cb65598e5ce64c2abd254468c71735de,
title = "Smoothed hex-grid trajectory planning using helicopter dynamics",
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.",
keywords = "Model of dynamics, Path planning, Planning on grids, UAVs, VTOLs",
author = "Luk{\'a}š Chrpa and Anton{\'i}n Komenda",
year = "2011",
doi = "10.5220/0003184106290632",
language = "English",
isbn = "9789898425409",
volume = "1",
pages = "629--632",
editor = "Joaquim Filipe and Ana Fred",
booktitle = "Proceedings of the 3rd International Conference on Agents and Artificial Intelligence (ICAART), (Rome, 28-30 January 2011)",

}

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, 3rd International Conference on Agents and Artificial Intelligence, Rome, Italy, 28/01/11. https://doi.org/10.5220/0003184106290632

Smoothed hex-grid trajectory planning using helicopter dynamics. / Chrpa, Lukáš; Komenda, Antonín.

Proceedings of the 3rd International Conference on Agents and Artificial Intelligence (ICAART), (Rome, 28-30 January 2011). ed. / Joaquim Filipe; Ana Fred. Vol. 1 2011. p. 629-632.

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

TY - GEN

T1 - Smoothed hex-grid trajectory planning using helicopter dynamics

AU - Chrpa, Lukáš

AU - Komenda, Antonín

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - Model of dynamics

KW - Path planning

KW - Planning on grids

KW - UAVs

KW - VTOLs

UR - http://www.scopus.com/inward/record.url?scp=79956138999&partnerID=8YFLogxK

UR - http://www.scitepress.org/DigitalLibrary/ProceedingsDetails.aspx?ID=qz0b8hk2+Dg=&t=1

U2 - 10.5220/0003184106290632

DO - 10.5220/0003184106290632

M3 - Conference contribution

SN - 9789898425409

VL - 1

SP - 629

EP - 632

BT - Proceedings of the 3rd International Conference on Agents and Artificial Intelligence (ICAART), (Rome, 28-30 January 2011)

A2 - Filipe, Joaquim

A2 - Fred, Ana

ER -

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