Computing and Library Services - delivering an inspiring information environment

Dynamic Trajectory Replanning for Unmanned Aircrafts Supporting Tactical Missions in Urban Environments

Chrpa, Lukáš and Novák, Peter (2011) Dynamic Trajectory Replanning for Unmanned Aircrafts Supporting Tactical Missions in Urban Environments. Lecture Notes in Computer Science, 6867. pp. 256-265. ISSN 0302-9743

PDF - Accepted Version
Download (477kB) | Preview


    In the last decade we witnessed an increased demand for employment of unmanned aerial vehicles (UAV) in practise. For instance, there is a growing need to provide surveillance tasks in a given area by a team of cooperating UAVs. In this case, the ability of a single UAV to plan its course of actions (e.g., trajectories that the UAV must fly through) is essential. Trajectory planning algorithm used by UAVs must be able to find trajectories satisfying constraints given by environment (e.g., obstacles) or by UAVs’ dynamic models. Besides the planner itself the UAVs must somehow react to changes of high-level tasks or environment. Such a reaction often means to replan the trajectories towards new goals. In this paper, we will discuss the replanning related issues such as swapping the old and new trajectory smoothly respecting the UAV dynamics. We present an idea based on estimating running time of replanning tasks and evaluated its impact to safeness of replanning (e.g., avoiding to get to an inconsistent state).

    Item Type: Article
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    Schools: School of Computing and Engineering
    School of Computing and Engineering > Informatics Research Group > Knowledge Engineering and Intelligent Interfaces
    Related URLs:
    Depositing User: Lukas Chrpa
    Date Deposited: 14 Feb 2012 13:51
    Last Modified: 14 Feb 2012 13:51

    Document Downloads

    Downloader Countries

    More statistics for this item...

    Item control for Repository Staff only:

    View Item

    University of Huddersfield, Queensgate, Huddersfield, HD1 3DH Copyright and Disclaimer All rights reserved ©