Silhouette-informed trajectory generation through a wire maze for small UAS

Javier Puig-Navarro, Naira Hovakimyan, Natalia M. Alexandrov, Bonnie D. Allen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Current rapidly-exploring random tree (RRT) algorithms rely on proximity query packages that often include collision checkers, tolerance verification, and distance computation algorithms for the generation of safe paths. In this paper, we broaden the information available to the path-planning algorithm by incorporating silhouette information of nearby obstacles in conflict. A silhouette-informed tree (SIT) is generated through the flight-safe region of a wire maze for a single unmanned aerial system (UAS). The silhouette is used to extract local geometric information of nearby obstacles and provide path alternatives around these obstacles, thus focusing the search for the generation of new tree branches near these obstacles and decreasing the number of samples required to explore the narrow corridors within the wire maze. The SIT is then processed to extract a path that connects the initial location of the UAS with the goal, reduce the number of line segments in this path, if possible, and smooth the resulting path using Pythagorean Hodograph Bézier curves. To ensure that the smoothed path remains in the flight-safe region of the configuration space, a tolerance verification algorithm for Bézier curves and convex polytopes in three dimensions is proposed. Lastly, temporal specifications are imposed on the smoothed path in the shape of an arbitrary speed profile.

Original languageEnglish (US)
Title of host publication2018 Aviation Technology, Integration, and Operations Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105562
DOIs
StatePublished - Jan 1 2018
Event18th AIAA Aviation Technology, Integration, and Operations Conference, 2018 - Atlanta, United States
Duration: Jun 25 2018Jun 29 2018

Publication series

Name2018 Aviation Technology, Integration, and Operations Conference

Other

Other18th AIAA Aviation Technology, Integration, and Operations Conference, 2018
CountryUnited States
CityAtlanta
Period6/25/186/29/18

ASJC Scopus subject areas

  • Energy(all)
  • Aerospace Engineering

Fingerprint Dive into the research topics of 'Silhouette-informed trajectory generation through a wire maze for small UAS'. Together they form a unique fingerprint.

  • Cite this

    Puig-Navarro, J., Hovakimyan, N., Alexandrov, N. M., & Allen, B. D. (2018). Silhouette-informed trajectory generation through a wire maze for small UAS. In 2018 Aviation Technology, Integration, and Operations Conference [AIAA 2018-3845] (2018 Aviation Technology, Integration, and Operations Conference). American Institute of Aeronautics and Astronautics Inc, AIAA. https://doi.org/10.2514/6.2018-3845