Motion planning for hybrid UAVs in dense urban environments

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

doi:10.1109/AIM.2017.8014251

Motion planning for hybrid UAVs in dense urban environments

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

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1627-1632
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014251
Publication status	Published - Aug 21 2017
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: Jul 3 2017 → Jul 7 2017

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country	Germany
City	Munich
Period	7/3/17 → 7/7/17

ASJC Scopus subject areas

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

Access to Document

10.1109/AIM.2017.8014251

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Motion planning for hybrid UAVs in dense urban environments. / Nurimbetov, Birzhan; Adiyatov, Olzhas; Yeleu, Sultanmurat; Varol, Huseyin Atakan.

2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1627-1632 8014251.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nurimbetov, B, Adiyatov, O, Yeleu, S & Varol, HA 2017, Motion planning for hybrid UAVs in dense urban environments. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014251, Institute of Electrical and Electronics Engineers Inc., pp. 1627-1632, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 7/3/17. https://doi.org/10.1109/AIM.2017.8014251

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