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

Content Provider	Springer Nature Link
Author	Altmann, Arne Niendorf, Moritz Bednar, Marius Reichel, Reinhard
Copyright Year	2013
Abstract	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.
Starting Page	185
Ending Page	197
Page Count	13
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	76
Issue Number	1
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2013-06-19
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Path planning Aircraft navigation Unmanned aerial vehicles Aircraft Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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