Path Planning in 3D with Motion Primitives for Wind Energy-Harvesting Fixed-Wing Aircraft
Abstract
In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the traditional continuous control space used in many sampling-based motion planners. The primitives are implemented in a Stable Sparse Rapidly Exploring Random Tree (SST) motion planner and compared to an identical planner using a continuous control space. The planner using primitives was found to run 11.0\% faster but yielded solution paths that were on average worse with higher variance. Also, the solution path travel time is improved by about 50\%. Using motion primitives for sampling spaces in SST can effectively reduce the run time of the algorithm, although at the cost of solution quality.
Keywords
Cite
@article{arxiv.2311.10915,
title = {Path Planning in 3D with Motion Primitives for Wind Energy-Harvesting Fixed-Wing Aircraft},
author = {Seung-Keol Ryu and Michael Moncton and Han-Lim Choi and Eric Frew},
journal= {arXiv preprint arXiv:2311.10915},
year = {2023}
}
Comments
4 pages