TURN-RELUCTANT SCOUTING ALGORITHM FOR FIXED-WING PLANES INCLUDING TURN-AWARE STATIC OBSTACLE AVOIDANCE

Aeris El Asslouj, Michael W. Marcellin

Research output: Contribution to journalConference articlepeer-review

Abstract

Pathfinding is a core challenge in autonomous vehicle scouting. The difficulty in tackling it comes both from its aspect as an abstract traveling salesman problem, and from the physical limitations of the chosen vehicle that restrict possible paths to realistic ones. The physical limitations are especially strong for unmanned aerial vehicles with high turn radii like fixed-wing planes. This paper describes two complementary subsystems that have been implemented to tackle a scouting task with a fixed-wing plane for an area with static obstacles. The first is a turn-reluctant cover-path algorithm that provides a solution to the traveling salesman problem with soft turns. The second is a turn-aware short-path algorithm that provides a path from an initial to a final position while avoiding static obstacles and accounting for the minimum turn radius of the plane.

Original languageEnglish (US)
Pages (from-to)101-109
Number of pages9
JournalProceedings of the International Telemetering Conference
Volume57
StatePublished - 2022
Event57th Annual International Telemetering Conference, ITC 2022 - Glendale, United States
Duration: Oct 24 2022Oct 27 2022

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Instrumentation
  • Computer Networks and Communications
  • Signal Processing

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