Practical Implementation of a Trajectory Planning Algorithm for an Autonomous UAV

Theron, Jean-Pierre, Dala, Laurent, Wilke, Daniel N. and Barrier, Patrick (2018) Practical Implementation of a Trajectory Planning Algorithm for an Autonomous UAV. In: ICAS 2018 - 31st Congress of the International Council of the Aeronautical Sciences, 9th - 14th September 2018, Belo Horizonte, Brazil.

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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.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Inverse dynamics based planning; Near real-time planning; Numerical optimisation; Obstacle avoidance; Fixed-wing autonomous unmanned aerial vehicle
Subjects: G400 Computer Science
H400 Aerospace Engineering
Department: Faculties > Engineering and Environment > Mechanical and Construction Engineering
Related URLs:
Depositing User: Paul Burns
Date Deposited: 04 Sep 2018 10:32
Last Modified: 11 Oct 2019 17:17
URI: http://nrl.northumbria.ac.uk/id/eprint/35576

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