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Reactive route selection from pre-calculated trajectories – application to micro-UAV path planning

Published online by Cambridge University Press:  27 January 2016

J. Hall  and
D. Anderson
J. Hall*
Affiliation:
Division of Information Engineering, Engineering Department, Cambridge University, Cambridge, UK
D. Anderson*
Affiliation:
Aerospace Sciences Research Division, School of Engineering, Glasgow University, Glasgow, UK
*
jah215@eng.cam.ac.uk
dave.anderson@glasgow.ac.uk
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Abstract

Operating micro-UAVs autonomously in complex urban areas requires that the guidance algorithms on-board are robust to changes in the operating environment. Limited endurance capability demands an optimal guidance algorithm, which will change as the environment does. All optimal path-planning routines are computationally intensive, with processor load a function of the environmental complexity. This paper presents a new algorithm, the reactive route selection algorithm, for storing a bank of optimal trajectories computed off-line and blending between these optimal trajectories as the operating environment changes. An example is presented using a mixed-integer linear program to generate the optimal trajectories.

Type
Technical Note
Information
The Aeronautical Journal , Volume 115 , Issue 1172 , October 2011 , pp. 635 - 640
Copyright
Copyright © Royal Aeronautical Society 2011 

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