Journal ArticleDOI
Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities
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In this paper, a trajectory planning scheme for a class of dynamic systems, referred to as differentially flat systems, is proposed, motivated from online computations and is aimed to satisfy the state equations, path and actuator constraints, and given initial and terminal constraints.Abstract:
Trajectory planning of dynamic systems, in near real-time, is important for aerospace systems, specially, unmanned air vehicles and launched munitions. Trajectory plans that do not consider the governing dynamic equations, applicable path and actuator constraints may be unrealizable during execution. The purpose of this paper is to propose a trajectory planning scheme for a class of dynamic systems, referred to as differentially flat systems. The planner is motivated from on-line computations and is aimed to satisfy the state equations, path and actuator constraints, and given initial and terminal constraints. The essence of the approach is demonstrated by two examples: (i) a hardware implementation on a spring-mass-damper system to demonstrate real-time capabilities during pursuit; (ii) trajectory planning of a PVTOL to illustrate the application to nonlinear problems.read more
Citations
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Coordinated target assignment and intercept for unmanned air vehicles
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Real-Time Motion Planning for Agile Autonomous Vehicles
TL;DR: In this paper, a randomized path planning architecture for dynamical systems in the presence of fixed and moving obstacles is proposed, which can be applied to vehicles whose dynamics are described either by ordinary differential equations or by higher-level, hybrid representations.
Proceedings ArticleDOI
Real-time motion planning for agile autonomous vehicles
TL;DR: This paper proposes a randomized motion planning architecture for dynamical systems in the presence of fixed and moving obstacles that addresses the dynamic constraints on the vehicle's motion, and it provides at the same time a consistent decoupling between low-level control and motion planning.
Book ChapterDOI
Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments
TL;DR: This work presents a method of jointly optimizing polynomial path segments in an unconstrained quadratic program that is numerically stable for high-order polynomials and large numbers of segments, and is easily formulated for efficient sparse computation.
Journal ArticleDOI
Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs
TL;DR: An overview of a cooperative control strategy for aerial surveillance that has been successfully flight tested on small UAVs and the effectiveness of the solution will be shown using both high-fidelity simulation and actual flight tests.
References
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Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Journal ArticleDOI
Flatness and defect of non-linear systems: introductory theory and examples
TL;DR: In this paper, the authors introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous feedback, which subsumes the physical properties of a linearizing output and provides another nonlinear extension of Kalman's controllability.