Motion planning for hybrid UAVs in dense urban environments

Birzhan Nurimbetov, Olzhas Adiyatov, Sultanmurat Yeleu, Huseyin Atakan Varol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Many hybrid UAVs capable of vertical takeoff and landing (VTOL) and fixed-wing flight are being introduced for their maneuverability, efficiency and high cruise speed. The benefits of these systems can be exploited effectively using task planning frameworks tailored to their unique properties. To address this need, we present a motion planning strategy for these hybrid UAVs in cluttered urban settings. After dividing the flight into three phases of takeoff, cruise and landing, we solve each of the ensuing motion planning problems using Stable Sparse RRT motion planner. We employ a Dubin's vehicle based model because it offers a balanced trade-off between computational simplicity and accurate simulation of real-world behavior. Simulation experiments conducted in a dense urban setting (downtown Chicago) show the efficacy of our approach.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1627-1632
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - Aug 21 2017
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: Jul 3 2017Jul 7 2017

Conference

Conference2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period7/3/177/7/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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