Waypoint-Based Trajectory Planning of Fixed-Wing MAVs in 3D Space

Hota, Sikha and Ghose, Debasish (2017) Waypoint-Based Trajectory Planning of Fixed-Wing MAVs in 3D Space. In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 86 (1). pp. 95-113.

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Abstract

The paper addresses the problem of trajectory generation of a fixed-wing miniature aerial vehicle (MAV), constrained by a bounded turn rate, which is required to fly along a path defined by a series of waypoints in three-dimensional space. The generated trajectory named as gamma-trajectory, transits between two consecutive waypoint segments in a ``smooth'' manner. For this trajectory the shortest distance from the waypoint can also be set to a desired value based on the limited capacity of the sensor mounted on the MAV. Subsequently, a loop-trajectory is generated, which is important if the vehicle is required to track the entire waypoint segments as well as the waypoints. Since the trajectory is composed of circles of minimum turn radius and straight lines, this is computationally fast and real-time implementable. Finally, the implementation of generated trajectory is illustrated in an environment cluttered with obstacles and several aspects of the generated trajectory are compared with those of the trajectories obtained using techniques available in the literature.

Item Type:	Journal Article
Publication:	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Publisher:	SPRINGER, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS
Additional Information:	Copy right for this article belongs to the SPRINGER, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	20 May 2017 04:40
Last Modified:	20 May 2017 04:40
URI:	http://eprints.iisc.ac.in/id/eprint/56869

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