A high-fidelity energy efficient path planner for unmanned airships

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DOIResolve DOI: http://doi.org/10.3390/robotics6040028
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TypeArticle
Journal titleRobotics
ISSN2218-6581
Volume6
Issue4
Pages# of pages: 19
Subjectpath planning; unmanned airship; wavefront expansion
AbstractThis paper presents a comparative study on the effects of grid resolution, vehicle velocity, and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption, and collision avoidance while respecting the differential constraints of the vehicle is presented. Trajectories are generated using a variety of test environments and flight conditions to demonstrate that the inclusion of a high terrain map resolution, a temporal vehicle velocity, and a spatial wind vector field yields significant improvements in trajectory feasibility and energy economy when compared to trajectories generated using only two of these three elements.
Publication date
PublisherMDPI
LanguageEnglish
AffiliationEnergy, Mining and Environment; National Research Council Canada
Peer reviewedYes
NPARC number23002464
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Record identifierf94eb832-c07f-480a-9345-2208fc1dc937
Record created2017-11-14
Record modified2017-11-14
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