Motion Planning in Constrained Airspace Using Circular and Oval Helices as Trajectory Primitives
Abraham Pachikara, Rick Lind · 2010
Motion planning sets to determine trajectories for vehicles that link an initial location and heading with a initial location and heading. Techniques for motion planning have been developed for 2-dimensional maneuvering; however, they are less mature for 3-dimensional maneuvering. The concept of motion primitives is particularly attractive for motion planning that determines trajectories as a set of maneuvers that satisfy differential constraints. This paper furthers work on a higher-level abstraction of trajectory primitives that consider sequences of motion primitives. In this paper, trajectory primitives are developed that deal with airspace constraints of an environment. The motion planning is shown to be an optimization involving a pair of trajectory primitives that are related by an intermediate waypoint. The resulting path is completely parameterized by the waypoint location.