For the complex low-altitude flight mission of fixed-wing aircrafts, this paper proposes a terrain-based trajectory generation method based on hierarchical planning framework. The sampling-based path planning algorithm, rapidly-exploring random tree (RRT*), is modified to search collision-free low-altitude path according to the terrain information. Since the generated path by RRT is not dynamically feasible, the subsequent trajectory optimization step is introduced to refine the non-smooth path. In this step, an advanced numerical optimization method is used to achieve spatial optimization subject to the flight performance of fixed-wing aircrafts, which can improve the trajectory smoothness and dynamic feasibility effectively. Numerical simulations on complex terrains are conducted, and the results validate the effectiveness and efficiency of the proposed method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Terrain-Based Hierarchical Trajectory Planning for Low-Altitude Flight of Fixed-Wing Aircrafts


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Jiang, Guo-Ping (Herausgeber:in) / Wang, Mengyi (Herausgeber:in) / Ren, Zhang (Herausgeber:in) / Zhong, Yuhang (Autor:in) / Han, Zhichao (Autor:in) / Peng, Yiyang (Autor:in) / Zhao, Changchun (Autor:in) / Xu, Guangtong (Autor:in) / Xu, Chao (Autor:in) / Gao, Fei (Autor:in)

    Kongress:

    Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023



    Erscheinungsdatum :

    12.07.2024


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Flexible Trajectory Planning Framework using Optimal Control for Rotary and Fixed-Wing Aircrafts Mission Planning and Target-Pursuit

    Schubert, Falk / Fernandes de Oliveira, Rafael / Potyka, Viktor | SAE Technical Papers | 2013


    Flexible Trajectory Planning Framework using Optimal Control for Rotary and Fixed-Wing Aircrafts Mission Planning and Target-Pursuit

    de Oliveira, R.F. / Schubert, F. / Potyka, V. et al. | British Library Conference Proceedings | 2013


    Flight Testing of a Fully Adaptive Algorithm for Autonomous Fixed Wing Aircrafts Landing

    De Lellis, Ettore / Di Vito, Vittorio / Marrone, Carmine et al. | AIAA | 2012



    Low-Altitude Terrain-Following Flight Planning for Multirotors

    Carmelo Donato Melita / Dario Calogero Guastella / Luciano Cantelli et al. | DOAJ | 2020

    Freier Zugriff