Bezier Curve Path Planning for Parafoil Terminal Guidance

Fowler, Lee; Rogers, Jonathan

doi:10.2514/6.2013-1325

Cited by 4 publications

(1 citation statement)

References 8 publications

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“…In this case, the nodes are set to the two static points which are the stockpile and the location of the truck. The paths are created by using an existing curve algorithm such as the Reeds-Shepp curve [146][147][148][149][150][151], or Bezier curve [152][153][154][155][156][157][158][159].…”

Section: Topological Path Planningmentioning

confidence: 99%

Path planning for autonomous bulldozers

et al. 2019

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With increasing demand and awareness from industries for enhanced safety, higher productivity, and better vehicle utilization, coupled with labour shortage, automating heavy equipment is becoming more and more important. Among the different types of heavy equipment, bulldozers fall into the category of machines that have a very high potential of achieving fully autonomous operation. Focusing on this fact, the aim of this research is to develop an automated path planning system for bulldozers. In general, an autonomous system is composed of terrain mapping, path planning and path-tracking. Existing commercial grade methodologies already solve terrain mapping and path-tracking, however path planning will be a key challenge for bulldozer automation.Conventional path planning algorithms are designed typically using a grid-based map, and are very versatile. However, in reality, a substantial effort is still required when applying to specific industry products. In contrast to this trend, the aim of this work is to develop a path planning algorithm specifically suitable for bulldozers, starting from the phase of theoretical development. The novel path planning methodology was developed by incorporating industry feedback, and has successfully resolved the issues which occurred when attempting to apply the pre-existing path planning methodologies. Results obtained from this newly developed methodology will demonstrate that efficient paths can be created. The methodology presented in this thesis has led to the development of automated path planning for bulldozers. This allows bulldozers to function without the need of an operator, contributing to enhanced safety, increased productivity, and solving the shortage of skilled operators.Declaration relating to disposition of project thesis/dissertation I hereby grant to the University of New South Wales or its agents the right to archive and to make available my thesis or dissertation in whole or in part in the University libraries in all forms of media, now or here after known, subject to the provisions of the Copyright Act 1968. I retain all property rights, such as patent rights. I also retain the right to use in future works (such as articles or books) all or part of this thesis or dissertation.I also authorise University Microfilms to use the 350 word abstract of my thesis in Dissertation Abstracts International (this is applicable to doctoral theses only). …………………………………………………………… Signature ……………………………………..……………… Witness Signature ……….……………………...…….… DateThe University recognises that there may be exceptional circumstances requiring restrictions on copying or conditions on use. Requests for restriction for a period of up to 2 years must be made in writing. Requests for a longer period of restriction may be considered in exceptional circumstances and require the approval of the Dean of Graduate Research.

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Section: Topological Path Planningmentioning

confidence: 99%

Path planning for autonomous bulldozers

et al. 2019

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Study of Three-Dimensional on-line path Planning for UAV based on Pythagorean Hodograph Curve

Zhang

Yang

Zhou

et al. 2015

International Journal on Smart Sensing and Intelligent Systems

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Robust Trajectory Planning for Autonomous Parafoils under Wind Uncertainty

Luders

Sugel

How

2013

AIAA Infotech@Aerospace (I@A) Conference

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A key challenge facing modern airborne delivery systems, such as parafoils, is the ability to accurately and consistently deliver supplies into difficult, complex terrain. Robustness is a primary concern, given that environmental wind disturbances are often highly uncertain and time-varying, coupled with under-actuated dynamics and potentially narrow drop zones. This paper presents a new on-line trajectory planning algorithm that enables a large, autonomous parafoil to robustly execute collision avoidance and precision landing on mapped terrain, even with significant wind uncertainties. This algorithm is designed to handle arbitrary initial altitudes, approach geometries, and terrain surfaces, and is robust to wind disturbances which may be highly dynamic throughout the terminal approach. Explicit, real-time wind modeling and classification is used to anticipate future disturbances, while a novel uncertainty-sampling technique ensures that robustness to possible future variation is efficiently maintained. The designed cost-to-go function enables selection of partial paths which intelligently trade off between current and reachable future states. Simulation results demonstrate that the proposed algorithm reduces the worst-case impact of wind disturbances relative to state-of-the-art approaches.

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Bezier Curve Path Planning for Parafoil Terminal Guidance

Cited by 4 publications

References 8 publications

Path planning for autonomous bulldozers

Path planning for autonomous bulldozers

Study of Three-Dimensional on-line path Planning for UAV based on Pythagorean Hodograph Curve

Robust Trajectory Planning for Autonomous Parafoils under Wind Uncertainty

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