A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft

Lorenz, Sven; Adolf, Florian-Michael

doi:10.1007/978-3-642-19817-5_1

Cited by 14 publications

(10 citation statements)

References 9 publications

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“…In ref. [19] parametric cubic splines were proposed for the interpolation of linear paths in order to minimize trajectory time. A useful property of cubic splines is their smoothness.…”

Section: Sampling-based Global Path Planningmentioning

confidence: 99%

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Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Schopferer¹,

Adolf²

2015

J Intell Robot Syst

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Onboard and online flight path planning for small-scale unmanned rotorcraft requires efficient algorithms in order to meet real-time constraints. In a priori unknown environment, rapid replanning is necessary in order to maintain a safe clearance when new obstacles are detected. The complexity of the planning problem varies vastly with the required flight path qualities and the complexity of the environment.In most scenarios flight paths should be smooth and time-efficient and always feasible to fly. Therefore, the rotorcraft's flight dynamics must be accounted for. Decoupled planning approaches have been proven to solve this problem very efficiently by dividing the problem into sequentially solvable subproblems. However, this computational efficiency comes at the cost of having to compromise on the flight path quality. In this work, we present a decoupled planning approach that has been integrated with our midiARTIS helicopter in order to perform onboard path planning when flying through a priori unknown environment. The approach involves roadmap-based global path planning and local path refinement with cubic splines. It allows to plan safe, dynamically feasible and timeefficient flight paths with limited onboard processing power. We present simulation results from a set of benchmark scenarios in complex urban terrain as well as results from flight testing of a closed-loop obstacle avoidance maneuver with virtual obstacle mapping. Our results demonstrate that close-to-optimal flight paths can be planned with a decoupled planning approach, if heuristics and simplifications for each planning step are carefully chosen.

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“…In ref. [19] parametric cubic splines were proposed for the interpolation of linear paths in order to minimize trajectory time. A useful property of cubic splines is their smoothness.…”

Section: Sampling-based Global Path Planningmentioning

confidence: 99%

“…In refs. [19,31] a velocity profile is used to assess the path's dynamic feasibility in respect to a simplified kinematic model. This profile is used by the path tracking controller to ensure sufficient maneuverability to track the path and compensate disturbances.…”

Section: Related Workmentioning

confidence: 99%

Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Schopferer¹,

Adolf²

2015

J Intell Robot Syst

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“…A trajectory generator calculates the time-wise evolution of the position and attitude command of the UA, cf. [16]. The flight controller is an implementation of the control algorithms which can be arranged in a control cascade, consisting of rate, attitude, velocity and path control; cf.…”

Section: Software Conceptmentioning

confidence: 99%

Steps Towards Scalable and Modularized Flight Software for Unmanned Aircraft Systems

Dauer

Goormann

Torens

2014

International Journal of Advanced Robotic Systems

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Unmanned aircraft (UA) applications impose a variety of computing tasks on the on-board computer system. From a research perspective, it is often more convenient to evaluate algorithms on bigger aircraft as they are capable of lifting heavier loads and thus more powerful computational units. On the other hand, smaller systems are often less expensive and operation is less restricted in many countries. This paper thus presents a conceptual design for flight software that can be evaluated on the UA of convenient size. The integration effort required to transfer the algorithm to different sized UA is significantly reduced. This scalability is achieved by using exchangeable payload modules and a flexible process distribution on different processing units. The presented approach is discussed using the example of the flight software of a 14 kg unmanned helicopter and an equivalent of 1.5 kg. The proof of concept is shown by means of flight performance in a hardware-in-the-loop simulation.

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“…Common problem decompositions involve sensor fusion, path planning, and flight stabilization, cf. [1], [2], [3]. While the path-planner determines safe geometric paths through the obstacle field [4], the flight control system stabilizes the helicopter and provides the interface to steer the helicopter along the path [1], [2], [3].…”

Section: Introductionmentioning

confidence: 99%

“…[1], [2], [3]. While the path-planner determines safe geometric paths through the obstacle field [4], the flight control system stabilizes the helicopter and provides the interface to steer the helicopter along the path [1], [2], [3]. Alternatively, planning can be done using motion primitives [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Run-to-run disturbance rejection for feedforward path following of an adaptively controlled unmanned helicopter

Dauer

Faulwasser

Lorenz

2015

2015 IEEE Conference on Control Applications (CCA)

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Abstract-We present a scheme for run-to-run disturbance rejection in optimization-based feedforward path following of a remotely piloted aircraft system (RPAS). The proposed scheme is based on the inter-run estimation of unknown disturbances, such as wind induced forces and model uncertainties. These disturbance estimates are introduced in an optimal control problem used to compute feedforward controls. In order to achieve good run-to-run disturbance rejection, the structure of the underlying stabilizing flight control of the RPAS is taken into account. In this work, we consider flight control based on adaptive reference following and the special case of the unmanned helicopter ARTIS. We present simulation results and flight test data. These results underpin that the proposed approach significantly decreases flight path deviations in a runto-run fashion.

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A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft

Cited by 14 publications

References 9 publications

Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Online Replanning of Time-Efficient Flight Paths for Unmanned Rotorcraft

Steps Towards Scalable and Modularized Flight Software for Unmanned Aircraft Systems

Run-to-run disturbance rejection for feedforward path following of an adaptively controlled unmanned helicopter

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