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Real-time Trajectory Planning for Autonomous Parafoil in Obstacle-Rich Environment
Li BB(李兵兵)1,2; Han JD(韩建达)1; Xiao JZ(肖继忠)3
Department机器人学研究室
Conference Name2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
Conference DateJuly 19-23, 2018
Conference PlaceTianjin, China
Author of SourceIEEE Robotics & Automation Society
Source PublicationProceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
PublisherIEEE
Publication PlaceNew York
2018
Pages457-462
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191806865732
WOS IDWOS:000468941800081
Contribution Rank1
ISSN2379-7711
ISBN978-1-5386-7056-9
Keywordparafoil system trajectory planning obstacle avoidance Bezier curve three-phases landing terminal landing
AbstractParafoil 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24692
Collection机器人学研究室
Corresponding AuthorXiao JZ(肖继忠)
Affiliation1.University of Chinese Academy of Sciences, Beijing 100049, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang 110016, China
3.City University of New York, City College
4.NY, United States
Recommended Citation
GB/T 7714
Li BB,Han JD,Xiao JZ. Real-time Trajectory Planning for Autonomous Parafoil in Obstacle-Rich Environment[C]//IEEE Robotics & Automation Society. New York:IEEE,2018:457-462.
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