Development of Flight Path Planning for Multirotor Aerial Vehicles

This study addresses the flight-path planning problem for multirotor aerial vehicles (AVs). We consider the specific features and requirements of real-time flight-path planning and develop a rapidly-exploring random tree (RRT) algorithm to determine a preliminary flight path in three-dimensional spa...

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Veröffentlicht in:Aerospace Jg. 2; H. 2; S. 171 - 188
Hauptverfasser: Tsai, Yi-Ju, Lee, Chia-Sung, Lin, Chun-Liang, Huang, Ching-Huei
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Basel MDPI AG 01.06.2015
Schlagworte:
A-star algorithm
Aerials
Aircraft components
Algorithms
flight path planning
Flight paths
Mathematical analysis
Path planning
rapidly-exploring random tree algorithm
Three dimensional
three-dimensional space
Vehicles
Waypoints
ISSN:2226-4310, 2226-4310
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Zusammenfassung:This study addresses the flight-path planning problem for multirotor aerial vehicles (AVs). We consider the specific features and requirements of real-time flight-path planning and develop a rapidly-exploring random tree (RRT) algorithm to determine a preliminary flight path in three-dimensional space. Since the path obtained by the RRT may not be optimal due to the existence of redundant waypoints. To reduce the cost of energy during AV’s flight, the excessive waypoints need to be refined. We revise the A-star algorithm by adopting the heading of the AV as the key indices while calculating the cost. Bezier curves are finally proposed to smooth the flight path, making it applicable for real-world flight.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:2226-4310
2226-4310
DOI:10.3390/aerospace2020171