Motion Planning

Chapter
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 71)

Abstract

Motion planning, still an active research topic is presented in this chapter. It is a fundamental task for an aerial robot that must plan complex strategies and establish long-term plans. Many topics are considered in this chapter. Controllability concerns the possibility for an aerial robot to fly from an initial position to another one. It provides an answer to the question whether the state can be driven to a specific point from any (nearby) initial condition and under an appropriate choice of control. Controllability of an aerial robot represented by its translational kinematic model is studied. The problem of trajectory planning, important aspect of aerial robot guidance, follows: trim trajectories and maneuvers are introduced as well as Dubins and Zermelo problems. The trajectories must be flyable and safe, Thus, nonholonomic motion planning is studied using the notions of differential flatness and nilpotence. As aerial robots are likely to operate in a dynamic environment, Collision avoidance is a fundamental part of motion planning. The operational environment is considered to be three dimensional, it may contain zones that the robot is not allowed to enter and these zones may not be fully characterized at the start of a mission. 3D aerial path planning has the objective to complete the given mission efficiently while maximizing the safety of the aircraft. To solve this problem, deterministic and probabilistic approaches are presented. To cope with imperfect information and dynamic environments, efficient replanning algorithms must be developed that correct previous solutions for a fraction of the computation required to generate such solutions from scratch, Thus, replanning methods such as incremental and anytime algorithms are studied.

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.UFR Sciences and TechnologiesUniversité d’Evry Val-D’EssoneEvryFrance

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