Abstract
A novel kinodynamic planning framework, which covers path panning, smoothing, tracking and emergency threat managing, is proposed. The framework is proposed based on sampling-based algorithm, which is improved to ensure dynamics feasibility as well as emergency threat management ability by applying Bezier curve and Extending Forbidden respectively. The Bezier curve guarantees both \(G^{1}\) and \(G^{2}\) continuity to decrease the tracking error of our LQI based tracking controller, where two Bezier curves with different continuity order are discussed. Extending Forbidden is firstly proposed by us to enable generating multiple paths of sampling-based algorithms, thus support on-line switching to avoid emergency threats. Our main contribution is that the proposed framework is a combination of path planning with emergency threat managing, where a time compromised moving obstacle avoiding method is proposed. Results proves the efficiency of the proposed algorithm in generating feasible trajectory for SERVOHELI-40, which not only guarantees kinematic feasible of avoiding obstacles, but also can ensure dynamics feasibility.
L. Yang—It is high acknowledged that this work is partially supported by National Science and technology support under Grant #2013BAK03B02. Yang Cao is with School of Software Engineering, USTC, China.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Frazzoli, E., Dahleh, M.A., Feron, E.: Real-time motion planning for agile autonomous vehicles. Journal of Guidance, Control, and Dynamics 25(11), 116–129 (2002)
Scholer, F., la Cour-Harbo, A., Bisgaard, M.: Generating Configuration Spaces and Visibility Graphs from a Geometric Workspace for UAV Path Planning. Autonomous Robots. Springer (2012)
Yang, K., Sukkarieh, S.: Real-time continuous curvature path planning of UAVs in cluttered environments. In: Proc. of IEEE 5th International Symposium on Mechatronics and its Applications, pp. 1–6. IEEE Press, Amman (2008)
De Filippis, L., Guglieri, G., Quagliotti, F.: Path planning strategies for UAVS in 3D environments. Journal of Intelligent and Robotic Systems 65, 247–264 (2012)
Hasircioglu, I., Topcuoglu, H.R., Ermis, M.: M.: 3-D path planning for the navigation of unmanned aerial vehicles by using evolutionary algorithms. In: Proceedings of the 10th Annual Conference on Genetic and Evolutionary Computation, pp. 1499–1506. IEEE Press, Atlanta (2008)
Miller, B., Stepanyan, K., Miller, A., et al.: 3D path planning in a threat environment. In: Proc. of 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), pp. 6864–6869. IEEE Press, Orlando (2011)
Walton, D.J., Meek, D.S., Ali, J.M.: Planar G2 transition curves composed of cubic Bzier spiral segments. Journal of Computational and Applied Mathematics 157(2), 453–476 (2003)
Yang, K., Sukkarieh, S.: An analytical continuous-curvature path-smoothing algorithm. IEEE Transactions on Robotics 26(3), 561–568 (2010)
Koyuncu, E., Inalhan, G.: A probabilistic B-spline motion planning algorithm for unmanned helicopters flying in dense 3d environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pp. 815–821. IEEE Press Nice, France (2008)
Van Den Berg, J., Ferguson, D., Kuffner, J.: Anytime path planning and replanning in dynamic environments. In: Proc. of IEEE International Conference on Robotics and Automation(ICRA 2006), pp. 2366–2371. IEEE Press, Orlando (2006)
Yoshida, E., Esteves, C., Belousov, I., et al.: Planning 3-d collision-free dynamic robotic motion through iterative reshaping. IEEE Transactions on Robotics 24(5), 1186–1198 (2008)
Yang, L., QI, J., Jiang, Z., Xiao, J., et al.: Guiding attraction based random tree path planning under uncertainty: dedicate for UAV. In: Proc. of IEEE International Conference on Mechatronics and Automation, pp. 1182–1187. IEEE Press, Tianjin (2014)
Song, D., Qi, J., Dai, L., et al.: Modelling a small-size unmanned helicopter using optimal estimation in the frequency domain. International Journal of Intelligent Systems Technologies and Applications 8(1), 70–85 (2010)
Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. The International Journal of Robotics Research 30(7), 846–894 (2011)
Su, H., Wang, X., Lin, Z.: Flocking of multi-agents with a virtual leader. IEEE Transactions on Automatic Control 54(2), 293–307 (2009)
Mahmoud, M.S., Koesdwiady, A.B.: Improved digital tracking controller design for pilot-scale unmanned helicopter. Journal of the Franklin Institute 349(1), 42–58 (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Yang, L., Qi, J., Cao, Y., He, Y., Han, J., Xiao, J. (2015). UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_22
Download citation
DOI: https://doi.org/10.1007/978-3-319-22876-1_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22875-4
Online ISBN: 978-3-319-22876-1
eBook Packages: Computer ScienceComputer Science (R0)