Trajectory Planning for Autonomous Aerospace Vehicles amid Known Obstacles and Conflicts
by
I. H. Yang and Y. J. Zhao
in
Journal of Guidance, Control, and Dynamics, Vol. 27, No. 6, Nov.-Dec.pp. 997-1008., 2004.
Category: Journal Article
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Abstract:
A discrete search strategy is presented for potential real-time generations of four-dimensional trajectories for a single autonomous aerospace vehicle amid known obstacles and conflicts. A model of autonomous operation is first developed. The problem of and requirements on real-time trajectory generations for autonomous aerospace vehicles are discussed. After an overview of various potential solution frameworks, a discrete search strategy is developed. In this strategy, a four-dimensional search space is defined and discretized. Potential obstacles and conflicts are represented by several basic geometric shapes and their combinations. Mathematical conditions are developed for a trajectory segment to be outside of an obstacle or conflict. Then, the A∗ search technique is used to obtain trajectory solutions, in which successor points are selected that avoid obstacles and conflicts and that satisfy dynamic motion constraints of the vehicle. A linear combination of flight distance and flight time is optimized in the trajectory generation process. A heuristic function that approximates this performance index is developed for the A∗ search procedure. Examples are provided that illustrate the application of the proposed
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