Smooth trajectory planning for MAVs with airspace restrictions

Upadhyay, S and Ratnoo, A (2016) Smooth trajectory planning for MAVs with airspace restrictions. In: AIAA Guidance, Navigation, and Control Conference, 4-8, January 2016, San Diego, United States.

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Abstract

The problem of generating smooth trajectories in a bounded airspace having arbitrary shaped no-fly zones and obstacles is considered. Paths derived from Four Parameter Lo- gistic (4PL) curve are proposed as a prospective solution. No-fly zones and obstacles are represented by convex polygons and closed-form analytic conditions are derived for avoiding them. Design parameter space approach is used to generate multiple feasible trajectories between a given set of waypoints with zero end curvature. Advantages of the proposed method are presented by a comparison with existing methods in terms of computational complexity, obstacle avoidance and nature of computation. The proposed methodology of- fers continuous curvature trajectories with zero end curvature which is desirable from MAV implementation perspective. Scenarios with multiple obstacles and waypoints are consid- ered and the solutions are validated on a realistic six-degree-of-freedom (6-DoF) Aerosonde MAV model. The present work offers a new, simple, and analytic approach to continuous curvature trajectory planning with obstacle avoidance.

Item Type:	Conference Paper
Publication:	2016 AIAA Guidance, Navigation, and Control Conference
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright of this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA
Keywords:	Degrees of freedom (mechanics); Redundant manipulators, Airspace restrictions; Analytic approach; Continuous curvature; Convex polygon; Design parameters; Six-degree-of-freedom (6-DoF); Smooth trajectories; Trajectory Planning, Trajectories
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	28 Aug 2020 10:00
Last Modified:	28 Aug 2020 10:00
URI:	http://eprints.iisc.ac.in/id/eprint/66285

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