Practical Implementation of a Trajectory Planning Algorithm for an Autonomous UAV

Jean-Pierre Theron, Laurent Dala, Daniel N. Wilke, Patrick Barrier

Research output: Contribution to conferencePaperpeer-review

1 Downloads (Pure)

Abstract

A near real-time optimal trajectory planning framework for UAVs is presented and tested in a series of low altitude obstacle avoidance planning scenarios. The framework uses the Inverse Dynamics Trajectory Optimisation approach with a quaternion point-mass aircraft dynamic model and a hybrid Differential Evolution and Sequential Quadratic Programming based Interior-Point optimisation strategy.

It was found that the new framework was able to successfully find a feasible (if not optimal) trajectory and to do so as efficiently as possible. However, it was also concluded that at this stage the framework is not yet fit to be used on a UAV, as the framework tends to take longer to plan a trajectory than it takes the UAV to fly it.

Ultimately it was concluded that with some further work, the Hybrid framework could be a viable near real-time trajectory planner for UAVs.
Original languageEnglish
Publication statusPublished - 9 Sep 2018
Event31st Congress of the International Council of the Aeronautical Sciences - Centro de Feiras de Minas Gerais George Norman Kutova, Belo Horizonte, Brazil
Duration: 9 Sep 201814 Sep 2018
https://eventos.abcm.org.br/icas2018/

Conference

Conference31st Congress of the International Council of the Aeronautical Sciences
Abbreviated titleICAS 2018
CountryBrazil
CityBelo Horizonte
Period9/09/1814/09/18
Internet address

Fingerprint

Dive into the research topics of 'Practical Implementation of a Trajectory Planning Algorithm for an Autonomous UAV'. Together they form a unique fingerprint.

Cite this