TY - GEN
T1 - Motion planning for hybrid UAVs in dense urban environments
AU - Nurimbetov, Birzhan
AU - Adiyatov, Olzhas
AU - Yeleu, Sultanmurat
AU - Varol, Huseyin Atakan
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85028757024&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85028757024&partnerID=8YFLogxK
U2 - 10.1109/AIM.2017.8014251
DO - 10.1109/AIM.2017.8014251
M3 - Conference contribution
AN - SCOPUS:85028757024
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1627
EP - 1632
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -