Reactive route selection from pre-calculated trajectories - application to micro-UAV path planning

Hall, J. and Anderson, D. (2011) Reactive route selection from pre-calculated trajectories - application to micro-UAV path planning. Aeronautical Journal, 115(1172), pp. 635-640.

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Publisher's URL: http://aerosociety.com/News/Publications/Aero-Journal

Abstract

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 computationally intensive, with processor load a function of the environmental 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.

Item Type:Articles
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Anderson, Dr David
Authors: Hall, J., and Anderson, D.
Subjects:T Technology > TL Motor vehicles. Aeronautics. Astronautics
U Military Science > U Military Science (General)
College/School:College of Science and Engineering > School of Engineering > Aerospace Sciences
Research Group:Aerospace Sciences
Journal Name:Aeronautical Journal
Publisher:Royal Aeronautical Society
ISSN:0001-9240

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