Recoskie, StevenLanteigne, EricGueaieb, Wail2017-10-182017-10-182017-102218-6581http://dx.doi.org/10.3390/robotics6040028http://hdl.handle.net/10393/36847https://doi.org/10.20381/ruor-21119This 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.enpath planningunmanned airshipwavefront expansionArticle10.3390/robotics6040028