Longitudinal slung-load guidance for autonomous rotorcraft using rapidly-exploring Random Trees

Eric Johnson, John G. Mooney

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

Abstract

A novel 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. The algorithm is presented with a task to place a load in a specific location at a moment when the load is motionless, mimicing the actions of helicopter-based Christmas tree harvesting. The solutions provided by the RRT method vary in aggressiveness and precision, and are not ready for live implementation, but show promise in future development of this approach.

Original languageEnglish (US)
Title of host publicationAmerican Helicopter Society International - 2nd Asian/Australian Rotorcraft Forum, ARF 2013 and the 4th International Basic Research Conference on Rotorcraft Technology 2013, IBRCRT 2013
PublisherAmerican Helicopter Society International
Pages252-260
Number of pages9
ISBN (Print)9781632662828
Publication statusPublished - Jan 1 2013
Event2nd Asian/Australian Rotorcraft Forum, ARF 2013 and the 4th International Basic Research Conference on Rotorcraft Technology 2013, IBRCRT 2013 - Tianjin, China
Duration: Sep 8 2013Sep 11 2013

Publication series

NameAmerican Helicopter Society International - 2nd Asian/Australian Rotorcraft Forum, ARF 2013 and the 4th International Basic Research Conference on Rotorcraft Technology 2013, IBRCRT 2013

Other

Other2nd Asian/Australian Rotorcraft Forum, ARF 2013 and the 4th International Basic Research Conference on Rotorcraft Technology 2013, IBRCRT 2013
CountryChina
CityTianjin
Period9/8/139/11/13

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All Science Journal Classification (ASJC) codes

  • Automotive Engineering

Cite this

Johnson, E., & Mooney, J. G. (2013). Longitudinal slung-load guidance for autonomous rotorcraft using rapidly-exploring Random Trees. In American Helicopter Society International - 2nd Asian/Australian Rotorcraft Forum, ARF 2013 and the 4th International Basic Research Conference on Rotorcraft Technology 2013, IBRCRT 2013 (pp. 252-260). (American Helicopter Society International - 2nd Asian/Australian Rotorcraft Forum, ARF 2013 and the 4th International Basic Research Conference on Rotorcraft Technology 2013, IBRCRT 2013). American Helicopter Society International.