Smoothed hex-grid trajectory planning using helicopter dynamics

Lukáš Chrpa; Antonín Komenda

doi:10.5220/0003184106290632

Smoothed hex-grid trajectory planning using helicopter dynamics

Lukáš Chrpa, Antonín Komenda

Czech Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 language	English
Title of host publication	Proceedings of the 3rd International Conference on Agents and Artificial Intelligence (ICAART), (Rome, 28-30 January 2011)
Editors	Joaquim Filipe, Ana Fred
Pages	629-632
Number of pages	4
Volume	1
DOIs	https://doi.org/10.5220/0003184106290632
Publication status	Published - 2011
Externally published	Yes
Event	3rd International Conference on Agents and Artificial Intelligence - Rome, Italy Duration: 28 Jan 2011 → 30 Jan 2011

Conference

Conference	3rd International Conference on Agents and Artificial Intelligence
Abbreviated title	ICAART 2011
Country/Territory	Italy
City	Rome
Period	28/01/11 → 30/01/11

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10.5220/0003184106290632Licence: Unspecified

Cite this

@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}{\v s} Chrpa and Anton{\'i}n Komenda",

year = "2011",

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language = "English",

isbn = "9789898425409",

volume = "1",

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editor = "Joaquim Filipe and Ana Fred",

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

note = "3rd International Conference on Agents and Artificial Intelligence, ICAART 2011 ; Conference date: 28-01-2011 Through 30-01-2011",

}

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 proceeding › Conference contribution › peer-review

TY - GEN

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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

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DO - 10.5220/0003184106290632

M3 - Conference contribution

AN - SCOPUS:79956138999

SN - 9789898425409

VL - 1

SP - 629

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

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Y2 - 28 January 2011 through 30 January 2011

ER -

Smoothed hex-grid trajectory planning using helicopter dynamics

Abstract

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