NDLI: Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle

Content Provider	IEEE Xplore Digital Library
Author	Wzorek, M. Doherty, P.
Copyright Year	2006
Description	Author affiliation: Linkoping University, SE-58183 Linkoping, Sweden (Wzorek, M.; Doherty, P.)
Abstract	In this paper, we present a motion planning framework for a fully deployed autonomous unmanned aerial vehicle which integrates two sample-based motion planning techniques, Probabilistic Roadmaps and Rapidly Exploring Random Trees. Additionally, we incorporate dynamic reconfigurability into the framework by integrating the motion planners with the control kernel of the UAV in a novel manner with little modification to the original algorithms. The framework has been verified through simulation and in actual flight. Empirical results show that these techniques used with such a framework offer a surprisingly efficient method for dynamically reconfiguring a motion plan based on unforeseen contingencies which may arise during the execution of a plan. The framework is generic and can be used for additional platforms.
Sponsorship	IEEE Comput. Soc
Starting Page	242
Ending Page	249
File Size	1390196
Page Count	8
File Format	PDF
ISBN	0769526748
DOI	10.1109/ICHIT.2006.253618
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-11-09
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Information science Ethernet networks Aerospace simulation Path planning Unmanned aerial vehicles Vehicle dynamics Motion control Kernel Robots
Content Type	Text
Resource Type	Article

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