UAV flight path planning in time varying complex wind-fields

Anjan Chakrabarty, Jack Langelaan

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

24 Scopus citations

Abstract

This paper addresses the problem of path planning for a small UAV operating in a complex four dimensional (time and spatially varying) environment. A kinematic tree path planner that explicitly accounts for time is presented. This kinematic planner is shown to be resolution complete through comparison with the RC-RRT, and simulation results demonstrating planning in a complex time- and spatially-varying wind field are presented. The simulation considers an unpowered (i.e. gliding) aircraft, hence exploitation of vertical components of wind is critical for feasibility of flights to the goal.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2568-2574
Number of pages7
ISBN (Print)9781479901777
DOIs
StatePublished - Jan 1 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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