An introduction to splines for use in computer graphics & geometric modeling
An introduction to splines for use in computer graphics & geometric modeling
Adaptive subdivision and the length and energy of Be´zier curves
Computational Geometry: Theory and Applications
Planar G2 transition curves composed of cubic Bézier spiral segments
Journal of Computational and Applied Mathematics
Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle
ICHIT '06 Proceedings of the 2006 International Conference on Hybrid Information Technology - Volume 02
Flying Fast and Low Among Obstacles: Methodology and Experiments
International Journal of Robotics Research
Exploring unknown environments with randomized strategies
MICAI'06 Proceedings of the 5th Mexican international conference on Artificial Intelligence
UAV bezier curve maneuver planning using genetic algorithm
Proceedings of the 12th annual conference companion on Genetic and evolutionary computation
A Harmonic Potential Approach for Simultaneous Planning and Control of a Generic UAV Platform
Journal of Intelligent and Robotic Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
A Continuous Local Motion Planning Framework for Unmanned Vehicles in Complex Environments
Journal of Intelligent and Robotic Systems
The problem of boundary following by a unicycle-like robot with rigidly mounted sensors
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
This paper presents an efficient planning and execution algorithm for the navigation of an autonomous rotary wing UAV (RUAV) manoeuvering in an unknown and cluttered environment. A Rapidly-exploring Random Tree (RRT) variant is used for the generation of a collision free path and linear Model Predictive Control(MPC) is applied to follow this path. The guidance errors are mapped to the states of the linear MPC structure by using the nonlinear kinematic equations. The proposed path planning algorithm considers the run time of the planning stage explicitly and generates a continuous curvature path whenever replanning occurs. Simulation results show that the RUAV with the proposed methodology successfully achieves autonomous navigation regardless of its lack of prior information about the environment.