Collision Free Path Generation in 3-D with Turning and Pitch Radius Constraints for Aerial Vehicles
Flemming Schøler, Anders la Cour‐Harbo, Morten Bisgaard · 2009
In this paper we consider the problem of trajectory generation in 3D for uninhabited aerial systems (UAS). The proposed algorithm for trajectory generation allows us to find a feasible collision-free 3D trajectory through a number of waypoints in an environment containing obstacles. Our approach assumes that most of the aircraft structural and dynamic limitations can be formulated as a turn radius constraint, and that any two consecutive waypoints have line-of-sight. The generated trajectories are collision free and also satisfy a constraint on the minimum admissible turning radius, while allowing faster flight if appropriate. The work has been carried out with reference to the Bergen Industrial Twin helicopter and the 3D path planner from the Autonomous Vehicle Group at Aalborg University. Simulation results for the trajectory generation are presented, which are obtained using a detailed model of the Bergen Industrial Twin helicopter.