On the generation of feasible paths for aerial robots with limited climb angle

Authors:
Armando A. Neto;Mario F. M. Campos
Affiliations:
Vision and Robotics Laboratory, Computer Science Department, Federal University of Minas Gerais, Brazil;Vision and Robotics Laboratory, Computer Science Department, Federal University of Minas Gerais, Brazil
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 4
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Abstract

This paper presents a methodology based on a variation of the Quintic Pythagorean Hodographs curves for generating smooth feasible paths for autonomous vehicles in three-dimensional space under the restriction of limited climb angles. A given path is considered feasible if the main kinematic constraints of the vehicle are not violated. The generated paths satisfy three main angular constraints: (i) maximum curvature, (ii) maximum torsion and (iii) maximum climb (or dive). The smoothness the vehicle acceleration profile is indirectly guaranteed between two consecutive points of the profile. The proposed methodology is applicable to vehicles that move in three-dimensional environments, and that can be modelled under the constraints assumed. We apply our methodology and show the results for a small autonomous aerial vehicle.