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Motion primitives and 3D path planning for fast flight through a forest

Paranjape, Aditya A. and Meier, Kevin C. and Shi, Xichen and Chung, Soon-Jo and Hutchinson, Seth (2015) Motion primitives and 3D path planning for fast flight through a forest. International Journal of Robotics Research, 34 (3). pp. 357-377. ISSN 0278-3649. http://resolver.caltech.edu/CaltechAUTHORS:20161221-115331865

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Abstract

This paper presents two families of motion primitives for enabling fast, agile flight through a dense obstacle field. The first family of primitives consists of a time-delay dependent 3D circular path between two points in space and the control inputs required to fly the path. In particular, the control inputs are calculated using algebraic equations which depend on the flight parameters and the location of the waypoint. Moreover, the transition between successive maneuver states, where each state is defined by a unique combination of constant control inputs, is modeled rigorously as an instantaneous switch between the two maneuver states following a time delay which is directly related to the agility of the robotic aircraft. The second family consists of aggressive turn-around (ATA) maneuvers which the robot uses to retreat from impenetrable pockets of obstacles. The ATA maneuver consists of an orchestrated sequence of three sets of constant control inputs. The duration of the first segment is used to optimize the ATA for the spatial constraints imposed by the turning volume. The motion primitives are validated experimentally and implemented in a simulated receding horizon control (RHC)-based motion planner. The paper concludes with inverse-design pointers derived from the primitives.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1177/0278364914558017DOIArticle
http://journals.sagepub.com/doi/full/10.1177/0278364914558017PublisherArticle
ORCID:
AuthorORCID
Meier, Kevin C.0000-0003-4000-1422
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© The Author(s) 2015. The authors gratefully acknowledge the contributions of Sunil Patel to the experiments reported in this paper. The authors would also like to thank the reviewers for their thorough and critical reviews which helped improve the manuscript to its present form. This work was supported by the ONR (grant number N00014-11-1-0088) and the NSF (grant number IIS-1253758).
Group:GALCIT
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-11-1-0088
NSFIIS-1253758
Subject Keywords:Aerial robotics, online path planning, flight control, motion primitives, optimal control, bio-inspired flight
Record Number:CaltechAUTHORS:20161221-115331865
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161221-115331865
Official Citation:Motion primitives and 3D path planning for fast flight through a forest Aditya A. Paranjape, Kevin C. Meier, Xichen Shi, Soon-Jo Chung, Seth Hutchinson The International Journal of Robotics Research Vol 34, Issue 3, pp. 357 - 377 First published date: February-05-2015 10.1177/0278364914558017
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73085
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:21 Dec 2016 20:28
Last Modified:24 Oct 2017 20:38

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