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Motion Primitives and 3-D Path Planning for Fast Flight through a Forest

Panahandeh, Ghazaleh and Meier, Kevin C. and Chung, Soon-Jo and Shi, Xichen and Hutchinson, Seth (2013) Motion Primitives and 3-D Path Planning for Fast Flight through a Forest. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. IEEE International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 2940-2947. ISBN 978-1-4673-6358-7. http://resolver.caltech.edu/CaltechAUTHORS:20161123-070853922

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Abstract

This paper addresses the problem of motion planning for fast, agile flight through a dense obstacle field. A key contribution is the design of two families of motion primitives for aerial robots flying in dense obstacle fields, along with rules to stitch them together. The primitives are obtained by solving for the flight dynamics of the aerial robot, and explicitly account for limited agility using time delays. The first family of primitives consists of turning maneuvers to link any two points in space. The locations of the terminal points are used to obtain closed-form expressions for the control inputs required to fly between them, while accounting for the finite time required to switch between consecutive sets of control inputs. The second family consists of aggressive turn-around maneuvers wherein the time delay between the angle of attack and roll angle commands is used to optimize the maneuver for the spatial constraints. A 3-D motion planning algorithm based on these primitives is presented for aircraft flying through a dense forest.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/IROS.2013.6696773DOIArticle
http://ieeexplore.ieee.org/document/6696773/PublisherArticle
ORCID:
AuthorORCID
Meier, Kevin C.0000-0003-4000-1422
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2013 IEEE. This research was funded by ONR N00014-11-1-0088 and NSF IIS-1253758. The authors gratefully acknowledge the contributions of Sunil Patel, undergraduate student in the Department of Aerospace Engineering, to the experiments reported in this paper.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-11-1-0088
NSFIIS-1253758
Record Number:CaltechAUTHORS:20161123-070853922
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161123-070853922
Official Citation:A. A. Paranjape, K. C. Meier, X. Shi, S. J. Chung and S. Hutchinson, "Motion primitives and 3-D path planning for fast flight through a forest," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013, pp. 2940-2947. doi: 10.1109/IROS.2013.6696773
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72273
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:23 Nov 2016 18:26
Last Modified:24 Oct 2017 20:37

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