Improved 3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft

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• 作者：Arne Altmann (1)
  Moritz Niendorf (2)
  Marius Bednar (3)
  Reinhard Reichel (1)
  
• 关键词：Path planning ; Aircraft navigation ; Unmanned aerial vehicles ; Aircraft
• 刊名：Journal of Intelligent and Robotic Systems
• 出版年：2014
• 出版时间：September 2014
• 年：2014
• 卷：76
• 期：1
• 页码：185-197
• 全文大小：1,929 KB
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• 作者单位：Arne Altmann (1)
  Moritz Niendorf (2)
  Marius Bednar (3)
  Reinhard Reichel (1)
  
  1. Institute of Aircraft Systems, Universitaet Stuttgart, 70569, Stuttgart, Germany
  2. University of Michigan, Ann Arbor, MI, 48109, USA
  3. Aerologic GmbH, 04435, Schkeuditz, Germany
  
• ISSN：1573-0409

文摘

Path planning for unmanned aircraft has attracted a remarkable amount of interest from the research community. However, planning in large environments such as the civil airspace has not been addressed extensively. In this paper we apply a heuristic incremental interpolation-based search algorithm with efficient replanning capabilities to the path planning problem for a fixed-wing aircraft operating in a natural environment to plan and re-plan long flight paths. We modified the algorithm to account for the minimum turning radius and the limited flight path angles of a fixed-wing aircraft. Additionally, we present a method to consider a desired minimum cruising altitude and a post-processing algorithm to improve the path and remove unnecessary path points. These properties specific to aircraft operation could not be addressed with the original algorithm. Simulation results show that the planner produces intuitive, short paths and is capable of exploiting previous planning efforts, when unknown obstacles are encountered.