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• W62002395 abstract "This work studies an online roadmap-based path planner for an unmanned rotorcraft that is enhanced with a sensorbasedtrajectory time reduction concept. A recent evaluation of showed that linear roadmap paths under-perform withrespect to the enroute trajectory time in urban terrain scenarios. The challenge addressed in this paper is the tradeoffbetween a runtime efficient but coarse linear online roadmap and computationally more demanding nonlinear collisionfree path smoothing. An online connection strategy is required that considers motion constraints and the obstaclesensor’s field of view, in order to still allow for feasible connections to the roadmap at higher velocities and in narrowcorridors. Our approach proposes a finite horizon connection strategy that considers special cases during hover asopposed to sole forward flight. During the enroute flight, a clamped piecewise cubic spline interpolation is computedin real time and closely fitted along linear path corridors. Simulation results indicate that the proposed approachreduces the trajectory time while the computational overhead is kept low. It benefits from the roadmap’s coarsefree space representation such that the computational overhead is minimized. The approach considers approximaterotorcraft kinematics and the obstacle sensor’s field of view for increased motion safety. The concept is compared tobenchmark baseline performances where a significant trajectory time reduction is achieved." @default.
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• W62002395 date "2013-05-22" @default.
• W62002395 modified "2023-09-24" @default.
• W62002395 title "Trajectory Time Reduction using Field of View-based Smoothing of Roadmap-based Paths" @default.
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