A path planning algorithm for UAVs with limited climb angle

Authors:
Armando A. Neto;Mario F. M. Campos
Affiliations:
Vision and Robotics Laboratory (Verlab), Computer Science Department, Federal University of Minas Gerais, Brazil;Vision and Robotics Laboratory (Verlab), Computer Science Department, Federal University of Minas Gerais, Brazil
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 5
Cited 0

Pythagorean hodographs

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Hermite interpolation by Pythagorean hodograph quintics

Mathematics of Computation
Planning Algorithms

Planning Algorithms
The elastic bending energy of pythagorean-hodograph curves

Computer Aided Geometric Design
On the generation of feasible paths for aerial robots with limited climb angle

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation

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Abstract

In this paper we present a methodology based on a variation of the Spatial Pythagorean Hodograph curves to generate smooth feasible paths for autonomous vehicles in three-dimensional space under the restriction of limited climb angles. An fast iterative algorithm is used to calculate the curve. The generated path satisfy three main angular constraints given by the vehicle: (i) maximum curvature, (ii) maximum torsion and (iii) maximum climb (or dive). A path is considered feasible if these kinematic constraints are not violated. The smoothness vehicle's acceleration profile is indirectly guaranteed between two points. The proposed methodology is applicable to vehicles that move in three-dimensional environments, and that can be modeled by the constraints considered here. We show results for small aerial vehicle.