Path-Parameterization Approach Using Trajectory Primitives for Three-Dimensional Motion Planning
Publication: Journal of Aerospace Engineering
Volume 26, Issue 3
Abstract
Motion planning determines trajectories for vehicles that link an initial location and heading with a final location and heading. Techniques for motion planning have been developed for two-dimensional maneuvering; however, they are less mature for three-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 is related by an intermediate waypoint. The resulting path is completely parameterized by the waypoint location.
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Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 26 • Issue 3 • July 2013
Pages: 571 - 585
Copyright
© 2013 American Society of Civil Engineers.
History
Received: Sep 17, 2010
Accepted: Jul 20, 2011
Published online: Jul 22, 2011
Published in print: Jul 1, 2013
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