Trajectory Planning for Aerial Vehicles in the Area Coverage Problem with Nearby Obstacles

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Trajectory Planning for Aerial Vehicles in the Area Coverage Problem with Nearby Obstacles

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Trajectory Planning for Aerial Vehicles in the Area Coverage Problem with Nearby Obstacles

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems

ISBN

978-3-030-14983-3

ISSN

0302-9743

e-ISSN

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Počet stran výsledku

11

Strana od-do

226-236

Název nakladatele

Springer

Místo vydání

Basel

Místo konání akce

Praha

Datum konání akce

17. 10. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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