Real-Time Optimized Trajectory Planning for a Fixed-Wing Vehicle Flying in a Dynamic Environment
Publication: Journal of Aerospace Engineering
Volume 22, Issue 4
Abstract
The problem of determining an optimal feasible trajectory, for a fixed wing flying vehicle moving in a dynamical three-dimensional space, is addressed in this paper, and an analytical solution is proposed. With explicitly considering the boundary conditions and kinematic constraints as well as by satisfying the collision avoidance criterions, trajectories are described in terms of three parameterized polynomials, and the family of feasible trajectories are found. Then, the desired near shortest trajectory is chosen from the feasible trajectories by optimizing a performance index with respect to norm. This trajectory and its associated steering controls are achieved analytically. Computer simulations validate that this approach is computationally efficient and real-time implementable.
Get full access to this article
View all available purchase options and get full access to this article.
References
Boissonnat, J., Cerezo, A., and Leblond, J. (1992). “Shortest paths of bounded curvature in the plane.” Proc., Int. Conf. on Robotics and Automation, IEEE, Nice, France, 2315–2320.
Bortoff, S. (2000). “Path planning for uavs.” Proc., American Control Conf., Vol. 1, Chicago, 364–368.
Chung, C., and Saridis, G. (1989). “Path planning for an intelligent robot by the extended vgraph algorithm.” Proc., IEEE Int. Symposium on Intelligent Control, IEEE, Nice, France, 544–549.
Dubins, L. (1957). “On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents.” Am. J. Math., 79, 497–516.
Frazzoli, E., Mao, Z. H., Oh, J. H., and Feron, E. (2001). “Resolution of conicts involving many aircraft via semidefinite programming.” J. Guid. Control Dyn., 24, 79–86.
Fujimura, K. (1989). “A hierarchical strategy for path planning among moving obstacles.” IEEE Trans. Rob. Autom., 5, 61–69.
Herman, M. (1986). “Fast, three-dimensional, collision-free motion planning.” Proc., IEEE Int. Conf. on Robotics and Automation, AIAA, Albany, NY, 1056–1063.
Hwang, Y. K., and Ahuja, N. (1992). “A potential field approach to path planning.” IEEE Trans. Rob. Autom., 8, 23–32.
Judd, K., and Mclain, T. (2001). “Spline based path planning for unmanned air vehicles.” Proc., AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA, Austin, Tex.
Khatib, O. (1986). “Real-time obstacle avoidance for manipulator and mobile robots.” Int. J. Robot. Res., 5, 90–98.
Kitamura, Y., Tanaka, T., Kishino, F., and Yachida, M. (1995). “3-d path planning in a dynamic environment using an octree and an artificial potential field.” Proc., Int. Conf. on Intelligent Robots and Systems, Vol. 2, Rutgers University, New Brunswick, N.J., 474–481.
Kyriakopoulos, K., Kakambouras, P., and Krikelis, N. (1995). “Potential fields for nonholonomic vehicles.” Proc., IEEE International Symposium on Intelligent Control, Monterey, Calif., 461–465.
Lu, P. (1996). “Nonlinear trajectory tracking guidance with application to a launch vehicle.” J. Guid. Control Dyn., 19, 99–106.
Lu, P. (1997). “Entry guidance and trajectory control for reusable launch vehicle.” J. Guid. Control Dyn., 20, 143–149.
Menon, P., Sweriduk, G., and Sridhar, B. (1999). “Optimal strategies for free-flight air traffic conflict resolution.” J. Guid. Control Dyn., 22, 202–211.
Nikolos, I., Valavanis, K., Tsourveloudis, N., and Kostaras, A. (2004). “Evolutionary algorithm based offline/online path planner for uav navigation.” IEEE Trans. Syst., Man, Cybern., Part B: Cybern., 3, 898–912.
Qu, Z., Wang, J., and Plaisted, C. E. (2004). “A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles.” IEEE Trans. Rob. Autom., 20, 978–993.
Qu, Z., Wang, J., Plaisted, C. E., and Hull, R. A. (2006). “Global-stabilizing near-optimal control design for nonholonomic chained systems.” IEEE Trans. Autom. Control, 51, 1440–1456.
Raghunathan, A., Gopal, V., Subramanian, D., Biegler, L. T., and Samad, T. (2003). “3d conflict resolution of multiple aircraft via dynamic optimization.” Proc., AIAA Guidance, Navigation, and Control Conf. and Exhibit, Austin, Tex.
Shen, Z., and Lu, P. (2003). “On-board generation of three-dimensional constrained entry trajectories.” J. Guid. Control Dyn., 26, 111–121.
Stentz, A. (1994). “Optimal and efficient path planning for partially-knownenvironments.” Proc., 1994 IEEE Int. Conf. on Robotics and Automation, Vol. 4, San Diego, Calif., 3310–3317.
Stentz, A. T. (1995). “The focussed algorithm for real-time replanning.” Proc., Int. Joint Conf. on Artificial Intelligence, Montreal, Quebec, Canada, 1652–1659.
Sussmann, H. J., and Tang, G. (1991). “Shortest paths for the reedscshepp car: A worked out example of the use of geometric techniques in nonlinear optimal control.” Report SYCON-91-10, Rutgers Univ..
Vinh, N. X. (1993). Flight mechanics of high performance aircraft. 1st Ed., Cambridge University Press, Cambridge, U.K.
Wang, Y., and Lane, D. (1997). “Subsea vehicle path planning using nonlinear programming and constructive solid geometry.” Proc., IEE Control Theory and Applications, Vol. 144 (2), 143–152.
Warren, C. W. (1990). “A technique for autonomous underwater vehicle route planning.” IEEE J. Ocean. Eng., 3, 199–204.
Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 22 • Issue 4 • October 2009
Pages: 331 - 341
Copyright
© 2009 ASCE.
History
Received: Mar 23, 2007
Accepted: Sep 26, 2008
Published online: Sep 15, 2009
Published in print: Oct 2009
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.