A High-Fidelity Energy Efficient Path Planner for Unmanned Airships

A High-Fidelity Energy Efficient Path Planner for Unmanned Airships

This paper presents a comparative study on the effects of grid resolution, vehicle velocity, and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption,...

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Bibliographic Details
Main Authors: Steven Recoskie, Eric Lanteigne, Wail Gueaieb
Format: Article
Language:English
Published: MDPI AG 2017-10-01
Series:Robotics
Subjects:
path planning
unmanned airship
wavefront expansion
Online Access:https://www.mdpi.com/2218-6581/6/4/28
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spelling doaj-d96185b99d624b71adf09ad101cd54fb2020-11-24T20:46:39ZengMDPI AGRobotics2218-65812017-10-01642810.3390/robotics6040028robotics6040028A High-Fidelity Energy Efficient Path Planner for Unmanned AirshipsSteven Recoskie0Eric Lanteigne1Wail Gueaieb2Department of Mechanical Engineering, University of Ottawa, Ottawa, ON K1N 6N5, CanadaDepartment of Mechanical Engineering, University of Ottawa, Ottawa, ON K1N 6N5, CanadaSchool of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON K1N 6N5, CanadaThis paper presents a comparative study on the effects of grid resolution, vehicle velocity, and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption, and collision avoidance while respecting the differential constraints of the vehicle is presented. Trajectories are generated using a variety of test environments and flight conditions to demonstrate that the inclusion of a high terrain map resolution, a temporal vehicle velocity, and a spatial wind vector field yields significant improvements in trajectory feasibility and energy economy when compared to trajectories generated using only two of these three elements.https://www.mdpi.com/2218-6581/6/4/28path planningunmanned airshipwavefront expansion
collection DOAJ
language English
format Article
sources DOAJ
author Steven Recoskie
Eric Lanteigne
Wail Gueaieb
spellingShingle Steven Recoskie
Eric Lanteigne
Wail Gueaieb
A High-Fidelity Energy Efficient Path Planner for Unmanned Airships
Robotics
path planning
unmanned airship
wavefront expansion
author_facet Steven Recoskie
Eric Lanteigne
Wail Gueaieb
author_sort Steven Recoskie
title A High-Fidelity Energy Efficient Path Planner for Unmanned Airships
title_short A High-Fidelity Energy Efficient Path Planner for Unmanned Airships
title_full A High-Fidelity Energy Efficient Path Planner for Unmanned Airships
title_fullStr A High-Fidelity Energy Efficient Path Planner for Unmanned Airships
title_full_unstemmed A High-Fidelity Energy Efficient Path Planner for Unmanned Airships
title_sort high-fidelity energy efficient path planner for unmanned airships
publisher MDPI AG
series Robotics
issn 2218-6581
publishDate 2017-10-01
description This paper presents a comparative study on the effects of grid resolution, vehicle velocity, and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption, and collision avoidance while respecting the differential constraints of the vehicle is presented. Trajectories are generated using a variety of test environments and flight conditions to demonstrate that the inclusion of a high terrain map resolution, a temporal vehicle velocity, and a spatial wind vector field yields significant improvements in trajectory feasibility and energy economy when compared to trajectories generated using only two of these three elements.
topic path planning
unmanned airship
wavefront expansion
url https://www.mdpi.com/2218-6581/6/4/28
work_keys_str_mv AT stevenrecoskie ahighfidelityenergyefficientpathplannerforunmannedairships
AT ericlanteigne ahighfidelityenergyefficientpathplannerforunmannedairships
AT wailgueaieb ahighfidelityenergyefficientpathplannerforunmannedairships
AT stevenrecoskie highfidelityenergyefficientpathplannerforunmannedairships
AT ericlanteigne highfidelityenergyefficientpathplannerforunmannedairships
AT wailgueaieb highfidelityenergyefficientpathplannerforunmannedairships
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