NDLI: Motion primitives and 3-D path planning for fast flight through a forest

Content Provider	IEEE Xplore Digital Library
Author	Paranjape, A.A. Meier, K.C. Xichen Shi Soon-Jo Chung Hutchinson, S.
Copyright Year	2013
Abstract	This paper addresses the problem of motion planning for fast, agile flight through a dense obstacle field. A key contribution is the design of two families of motion primitives for aerial robots flying in dense obstacle fields, along with rules to stitch them together. The primitives are obtained by solving for the flight dynamics of the aerial robot, and explicitly account for limited agility using time delays. The first family of primitives consists of turning maneuvers to link any two points in space. The locations of the terminal points are used to obtain closed-form expressions for the control inputs required to fly between them, while accounting for the finite time required to switch between consecutive sets of control inputs. The second family consists of aggressive turn-around maneuvers wherein the time delay between the angle of attack and roll angle commands is used to optimize the maneuver for the spatial constraints. A 3-D motion planning algorithm based on these primitives is presented for aircraft flying through a dense forest.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2940
Ending Page	2947
File Size	1376682
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696773
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aircraft Trajectory Planning Robots Delay effects Vectors Mathematical model
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Kinodynamic motion planning with state lattice motion primitives

Multi-hypothesis motion planning for visual object tracking

Input shaping via B-spline filters for 3-D trajectory planning

Interactive planning of persistent trajectories for human-assisted navigation of mobile robots

Real-time Bézier Trajectory Deformation for Potential Fields planning methods

Efficient reaching motion planning and execution for exploration by humanoid robots

Anytime Safe Interval Path Planning for dynamic environments

A cost-aware path planning algorithm for mobile robots

Distributed generalization of learned planning models in robot programming by demonstration

Motion primitives and 3-D path planning for fast flight through a forest

Similar Documents

Kinodynamic motion planning with state lattice motion primitives

Multi-hypothesis motion planning for visual object tracking

Input shaping via B-spline filters for 3-D trajectory planning

Interactive planning of persistent trajectories for human-assisted navigation of mobile robots

Real-time Bézier Trajectory Deformation for Potential Fields planning methods

Efficient reaching motion planning and execution for exploration by humanoid robots

Anytime Safe Interval Path Planning for dynamic environments

A cost-aware path planning algorithm for mobile robots

Distributed generalization of learned planning models in robot programming by demonstration

Motion primitives and 3-D path planning for fast flight through a forest