Real-time Trajectory Planning for Autonomous Parafoil in Obstacle-Rich Environment
文献类型：会议论文
| 作者 | Li BB(李兵兵)2,3 ; Han JD(韩建达)2
|
| 出版日期 | 2018 |
| 会议日期 | July 19-23, 2018 |
| 会议地点 | Tianjin, China |
| 关键词 | parafoil system trajectory planning obstacle avoidance Bezier curve three-phases landing terminal landing |
| 页码 | 457-462 |
| 英文摘要 | Parafoil system is suitable for large-area and longtime surveillance and airdrop missions and has the advantages of simple structure, low cost and high load capacity. The system is utilized for delivery mission in open area, where there is no obstacles or few obstacles. After released from the airplane, the system performs a classical three-phases landing strategy consisting of homing, energy management and terminal landing. This paper utilizes the classical guidance framework and presents a revised method of terminal landing using Bezier curves to solve obstacles avoidance problems in obstacle rich environment for parafoil system. With the definition of Bezier curve and cost function, the terminal landing path generation problem is converted to an optimization problem and is solved using nonlinear optimizer. To deal with different environments, a terminal landing strategy is developed. The simulation results show its effectiveness on parafoil system terminal path planning. |
| 源文献作者 | IEEE Robotics & Automation Society |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-5386-7056-9 |
| WOS记录号 | WOS:000468941800081 |
| 源URL | [http://ir.sia.cn/handle/173321/24692]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.City University of New York, City College 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang 110016, China 4.NY, United States |
| 推荐引用方式 GB/T 7714 | Li BB,Han JD. Real-time Trajectory Planning for Autonomous Parafoil in Obstacle-Rich Environment[C]. 见:. Tianjin, China. July 19-23, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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