TY - GEN
T1 - Motion primitives-based and Two-phase Motion Planning for Fixed-wing UAV
AU - Tan, Zheng
AU - Lyu, Yang
AU - Lu, Hanchen
AU - Pan, Quan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - We present an efficient two-phase approach to motion planning for fixed-wing Unmanned Aerial Vehicles (UAV) navigating in complex 3D air slalom environments. Firstly, in discrete 3D workspace, a global planner computer a obstacle-free path roughly which satisfies the kinematic constraints of the UAV. Given a coarse global path, a local planner generate a Dubins curve with collision avoidance based on the UAS's perception constraints, dynamic constraints and the collision perception information received. We also introduce a method of decoupling the horizontal and vertical motion directions of the fixed-wing UAV, realizing the 2D Dubins curve planning in 3D workspace, along with precomputed sets of motion primitives derived from the vehicle dynamics model in order to achieve high efficiency. Finally, the feasibility of two-phase 3D motion planning in appropriate FOV is experimentally demonstrated.
AB - We present an efficient two-phase approach to motion planning for fixed-wing Unmanned Aerial Vehicles (UAV) navigating in complex 3D air slalom environments. Firstly, in discrete 3D workspace, a global planner computer a obstacle-free path roughly which satisfies the kinematic constraints of the UAV. Given a coarse global path, a local planner generate a Dubins curve with collision avoidance based on the UAS's perception constraints, dynamic constraints and the collision perception information received. We also introduce a method of decoupling the horizontal and vertical motion directions of the fixed-wing UAV, realizing the 2D Dubins curve planning in 3D workspace, along with precomputed sets of motion primitives derived from the vehicle dynamics model in order to achieve high efficiency. Finally, the feasibility of two-phase 3D motion planning in appropriate FOV is experimentally demonstrated.
UR - http://www.scopus.com/inward/record.url?scp=85146637728&partnerID=8YFLogxK
U2 - 10.1109/ICARCV57592.2022.10004234
DO - 10.1109/ICARCV57592.2022.10004234
M3 - 会议稿件
AN - SCOPUS:85146637728
T3 - 2022 17th International Conference on Control, Automation, Robotics and Vision, ICARCV 2022
SP - 511
EP - 517
BT - 2022 17th International Conference on Control, Automation, Robotics and Vision, ICARCV 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th International Conference on Control, Automation, Robotics and Vision, ICARCV 2022
Y2 - 11 December 2022 through 13 December 2022
ER -