A High-Fidelity Energy Efficient Path Planner for Unmanned Airships

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Title: A High-Fidelity Energy Efficient Path Planner for Unmanned Airships
Authors: Recoskie, Steven
Lanteigne, Eric
Gueaieb, Wail
Date: 2017-10
Abstract: This paper presents a comparative study on the effects of grid resolution, vehicle velocity, and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption, and collision avoidance while respecting the differential constraints of the vehicle is presented. Trajectories are generated using a variety of test environments and flight conditions to demonstrate that the inclusion of a high terrain map resolution, a temporal vehicle velocity, and a spatial wind vector field yields significant improvements in trajectory feasibility and energy economy when compared to trajectories generated using only two of these three elements.
URL: http://dx.doi.org/10.3390/robotics6040028
http://hdl.handle.net/10393/36847
DOI: 10.3390/robotics6040028
CollectionScience informatique et génie électrique - Publications // Electrical Engineering and Computer Science - Publications
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