TY - GEN
T1 - Tree-based trajectory planning to exploit atmospheric energy
AU - Langelaan, Jack W.
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=52449095938&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449095938&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4586839
DO - 10.1109/ACC.2008.4586839
M3 - Conference contribution
AN - SCOPUS:52449095938
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 2328
EP - 2333
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -