Tree-based trajectory planning to exploit atmospheric energy

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

21 Scopus citations


This paper presents an approach to planning long distance trajectories for small unmanned aerial vehicles. The feasibility of such long-distance flights is dependent on exploiting atmospheric energy, which is possible in regions where there is a strong vertical component of wind. Here a treebased approach is used to find a feasible trajectory between the start position and a distant (i.e. beyond simple gliding range) goal. To improve computation time a set of branches is pre-computed from the space of allowable inputs allowing fast expansion of a node. Nodes are selected for expansion based on a weighted random approach. Simulation results show that feasible paths can be found using this method.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages6
StatePublished - 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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