Trajectory Planning for Aerial Vehicles in the Area Coverage Problem with Nearby Obstacles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00336147" target="_blank" >RIV/68407700:21230/19:00336147 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/chapter/10.1007/978-3-030-14984-0_18" target="_blank" >https://link.springer.com/chapter/10.1007/978-3-030-14984-0_18</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-14984-0_18" target="_blank" >10.1007/978-3-030-14984-0_18</a>
Alternative languages
Result language
angličtina
Original language name
Trajectory Planning for Aerial Vehicles in the Area Coverage Problem with Nearby Obstacles
Original language description
In this paper, we address the coverage path planning with curvature-constrained paths for a fixed-wing aerial vehicle. The studied problem is to provide a cost-efficient solution to cover a given area by the vehicle sensor from the specified altitude to provide a sufficient level of details in the captured snapshots of the area. In particular, we focus on scenarios where the area to be covered is surrounded by nearby obstacles such as trees or buildings, and the vehicle has to avoid collisions with the obstacles but maximizes the area coverage. We propose an extension of the existing coverage planning algorithm to determine a shortest collision-free path that is accompanied by Dubins Airplane model to satisfy the motion constraints of the vehicle. The reported results support the feasibility of the proposed approach to avoid nearby obstacles by optimal adjustments of the vehicle altitude while the requested complete coverage is satisfied. If such a solution is not found because of too close obstacles, a feasible solution maximizing the coverage is provided.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Modelling and Simulation for Autonomous Systems
ISBN
978-3-030-14983-3
ISSN
0302-9743
e-ISSN
—
Number of pages
11
Pages from-to
226-236
Publisher name
Springer
Place of publication
Basel
Event location
Praha
Event date
Oct 17, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—