ICRA 2011 Paper Abstract

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Paper WeA101.2

Lawrance, Nicholas Robert Jonathon (The University of Sydney), Sukkarieh, Salah (University of Sydney)

Path Planning for Autonomous Soaring Flight in Dynamic Wind Fields

Scheduled for presentation during the Regular Sessions "Aerial Robotics III" (WeA101), Wednesday, May 11, 2011, 08:35−08:50, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Aerial Robotics, Motion and Path Planning, Mapping

Abstract

An autonomous aircraft capable of utilising soaring flight in a dynamic wind field could considerably extend flight duration by limiting the use of on-board energy for propulsion. While soaring flight is relatively well understood for known wind, an autonomous soaring aircraft would have to generate paths based only on local observations of the wind made during the flight. This paper presents a method to simultaneously map and utilise a wind field using Gaussian process regression to generate a spatio-temporal map of the wind, and a path planning and dynamic target assignment algorithm to generate energy-gain paths from the current wind estimate. The planning architecture is tested in simulation for dynamic wind fields and shows consistent energy gain through exploration and exploitation of the wind environment.

 

 

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