Path Planning in the Local-Level Frame for Small Unmanned Aircraft Systems

Abstract

In this chapter, we propose a 3D path planning algorithm for small unmanned aircraft systems (UASs). We develop the path planning logic using a body fixed relative coordinate system which is the unrolled, unpitched body frame. In this relative coordinate system, the ownship is fixed at the center of the coordinate system, and the detected intruder is located at a relative position and moves with a relative velocity with respect to the ownship. This technique eliminates the need to translate the sensor's measurements from local coordinates to global coordinates, which saves computation cost and removes the error introduced by the transformation. We demonstrate and validate this approach using predesigned encounter scenarios in the Matlab/Simulink environment.