Paper Info
Title
On the generation of feasible paths for aerial robots in environments with obstacles
Abstract
This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for autonomous aerial vehicles with holonomic constraints in environments with obstacles. Our approach uses Pythagorean Hodograph (PH) curves to connect vertices of the tree, which makes it possible to generate paths for which the main kinematic constraints of the vehicle are not violated. The smoothness of the acceleration profile of the vehicle is indirectly guaranteed between two vertices of the RRT tree. The proposed algorithm provides fast convergence to the final trajectory. We still utilize the properties of the RRT to avoid collisions with static obstacles of a environment. We show results for a small unmanned aerial vehicles in environments with different configurations.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354628
St. Louis, MO
Keywords
Field
DocType
feasible path,final trajectory,different configuration,pythagorean hodograph,holonomic constraint,autonomous aerial vehicle,rapidly-exploring random trees,acceleration profile,aerial robot,rrt tree,feasible trajectory,small unmanned aerial vehicle,trajectory,robots,vehicle dynamics,robot kinematics,remotely operated vehicles,holonomic constraints,mobile robots,random processes,rapidly exploring random tree
Remotely operated underwater vehicle,Kinematics,Holonomic constraints,Control theory,Computer science,Robot kinematics,Control engineering,Vehicle dynamics,Robot,Mobile robot,Trajectory
Conference
ISBN
Citations 
PageRank 
978-1-4244-3804-4
3
0.46
References 
Authors
4
3
Name
Order
Citations
PageRank
Douglas G. Macharet144.21
Armando A. Neto291.80
Mario F. M. Campos31069.17