Longitudinal motion planning for slung-loads using simplified models and rapidly-exploring random trees

Eric Johnson, John G. Mooney

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

2 Scopus citations

Abstract

A randomized motion-planning approach to providing guidance for helicopters with under-slung loads is presented. Rapidly-exploring Random Trees are adapted to plan trajectories for simplified helicopter-load models. Four different planning models are tested against four different representative tasks. The poor performance of the baseline planner, and subsequent efforts to improve that performance shows the sensitivity of the RRT to proper sizing of the sampling area and amount of computation available. Further lines of potential research into optimizing planner performance and reducing computational cost are identified.

Original languageEnglish (US)
Title of host publicationAmerican Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015
Subtitle of host publicationPlatform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
PublisherAmerican Helicopter Society International
Pages128-138
Number of pages11
ISBN (Electronic)9781510810129
StatePublished - Jan 1 2015
Event6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations - Chandler, United States
Duration: Jan 20 2015Jan 22 2015

Publication series

NameAmerican Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations

Other

Other6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
CountryUnited States
CityChandler
Period1/20/151/22/15

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Johnson, E., & Mooney, J. G. (2015). Longitudinal motion planning for slung-loads using simplified models and rapidly-exploring random trees. In American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations (pp. 128-138). (American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations). American Helicopter Society International.