Title :
Trajectory generation for a fixed-wing UAV by the potential field method
Author :
Benghezal, Amar ; Louali, Rabah ; Bazoula, Abedelouahab ; Chettibi, Taha
Author_Institution :
Lab. Robot., Ecole Militaire Polytech., Algiers, Algeria
Abstract :
In this work we propose an online 3D trajectory generation based Artificial Potential Field method (APF) for fixed-wing UAVs. The proposed approach uses a simplified dynamic model in order to ensure the feasibility of the generated trajectory by the real UAV. Simulations show the feasibility of the approach in the cases of waypoints navigation in both free environment and obstructed environment.
Keywords :
aerospace navigation; autonomous aerial vehicles; mobile robots; APF; artificial potential field method; fixed-wing UAV; online 3D trajectory generation; waypoint navigation; Drag; Dynamics; Force; Mathematical model; Mobile communication; Three-dimensional displays; Trajectory; 3D online trajectory generation; Artificial potential field; UAV fixed-wings; dynamic model;
Conference_Titel :
Control, Engineering & Information Technology (CEIT), 2015 3rd International Conference on
Conference_Location :
Tlemcen
DOI :
10.1109/CEIT.2015.7233049
