Reactive Route Selection from Pre-Calculated Trajectories - Application to Micro-UAV Path Planning
Hall J. A. and Anderson D.
The Aeronautical Journal, Volume 115, Number 1172, Pages 635--640, August 2011Abstract
Operating micro-UAVs autonomously in complex urban areas requires that the guidance algorithms on-board are robust to changes in the operating environment. Limited endurance capability demands an optimal guidance algorithm, which will change as the environment does. All optimal path-planning routines are computa- tionally intensive, with processor load a function of the environ- mental complexity. This paper presents a new algorithm, the reactive route selection algorithm, for storing a bank of optimal trajectories computed off-line and blending between these optimal trajectories as the operating environment changes. An example is presented using a mixed-integer linear program to generate the optimal trajectories.
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BibTex Entry
- @Article{,
- author = {Hall J. A. and Anderson D.},
- journal = {The Aeronautical Journal},
- title = {Reactive Route Selection from Pre-Calculated Trajectories - Application to Micro-UAV Path Planning},
- year = {2011},
- month = {August},
- number = {1172},
- pages = {635--640},
- volume = {115}
- }
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