Global Real-Time Path Planning for UAVs in Uncertain Environment

Bernhard Weiß; Michael Naderhirn; Luigi del Re

Global Real-Time Path Planning for UAVs in Uncertain Environment

Bernhard Weiß
, Michael Naderhirn
, Luigi del Re

Institute of Design and Control of Mechatronical Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

In this work we introduce a real-time path planning method for Unmanned Aerial Vehicles (UAVs) in uncertain environment. The kinematic system of the vehicle is therefore heuristically reduced to a set of feasible trim trajectories. The local operating Iterative Step Method (ISM) sequentially determines the next best trim trajectory, which minimizes a local cost-function. By varying the respective weighting factors, its possible to get a trade off between path length and risk of the path. The local ISM is then integrated in a graph-based search of the best global by using the algorithm of Dijkstra. Finally a procedure for the real time use of the global path planner is presented.

Original language	English
Title of host publication	Proceedings of the 2006 IEEE International Conference on Control
Number of pages	6
Publication status	Published - 2006

Fields of science

202 Electrical Engineering, Electronics, Information Engineering
202027 Mechatronics
202034 Control engineering
203027 Internal combustion engines
206001 Biomedical engineering
206002 Electro-medical engineering
207109 Pollutant emission

Cite this

@inproceedings{25dd506d2bdd47b9968fecb1af855df6,

title = "Global Real-Time Path Planning for UAVs in Uncertain Environment",

abstract = "In this work we introduce a real-time path planning method for Unmanned Aerial Vehicles (UAVs) in uncertain environment. The kinematic system of the vehicle is therefore heuristically reduced to a set of feasible trim trajectories. The local operating Iterative Step Method (ISM) sequentially determines the next best trim trajectory, which minimizes a local cost-function. By varying the respective weighting factors, its possible to get a trade off between path length and risk of the path. The local ISM is then integrated in a graph-based search of the best global by using the algorithm of Dijkstra. Finally a procedure for the real time use of the global path planner is presented.",

author = "Bernhard Wei{\ss} and Michael Naderhirn and \{del Re\}, Luigi",

year = "2006",

language = "English",

booktitle = "Proceedings of the 2006 IEEE International Conference on Control",

}

TY - GEN

T1 - Global Real-Time Path Planning for UAVs in Uncertain Environment

AU - Weiß, Bernhard

AU - Naderhirn, Michael

AU - del Re, Luigi

PY - 2006

Y1 - 2006

N2 - In this work we introduce a real-time path planning method for Unmanned Aerial Vehicles (UAVs) in uncertain environment. The kinematic system of the vehicle is therefore heuristically reduced to a set of feasible trim trajectories. The local operating Iterative Step Method (ISM) sequentially determines the next best trim trajectory, which minimizes a local cost-function. By varying the respective weighting factors, its possible to get a trade off between path length and risk of the path. The local ISM is then integrated in a graph-based search of the best global by using the algorithm of Dijkstra. Finally a procedure for the real time use of the global path planner is presented.

AB - In this work we introduce a real-time path planning method for Unmanned Aerial Vehicles (UAVs) in uncertain environment. The kinematic system of the vehicle is therefore heuristically reduced to a set of feasible trim trajectories. The local operating Iterative Step Method (ISM) sequentially determines the next best trim trajectory, which minimizes a local cost-function. By varying the respective weighting factors, its possible to get a trade off between path length and risk of the path. The local ISM is then integrated in a graph-based search of the best global by using the algorithm of Dijkstra. Finally a procedure for the real time use of the global path planner is presented.

M3 - Conference proceedings

BT - Proceedings of the 2006 IEEE International Conference on Control

ER -