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Table Of Contents

Figure 1.2 Autopilot and guidance control loops
1.7 Potential Field
1.8 Cell Decomposition
1.9 Optimal Control
1.10 Optimization Techniques
1.11 Trajectories for Path Planning
1.12 Outline of the Book
References
Path Planning in Two Dimensions
2.1 Dubins Paths
Figure 2.1 CLC and CCC types of Dubins path
2.2 Designing Dubins Paths using Analytical Geometry
Figure 2.4 Dubins path with internal tangent
2.2.1 Dubins Path: External Tangent Solution
2.2.2 Dubins Path: Internal Tangent Solution
2.3 Existence of Dubins Paths
2.4 Length of Dubins Path
2.5.1 Dubins Path Length
2.7 Producing Flyable Clothoid Paths
2.8 Producing Flyable Pythagorean Hodograph Paths (2D)
2.8.1 Design of Flyable Path using 2D PH curve
Path Planning in Three Dimensions
Figure 3.1 Three-dimensional Dubins manoeuvre conditions
Figure 3.2 Three-dimensional Dubins manoeuvre of a UAV
3.2 Path Length–Dubins 3D
3.3 Pythagorean Hodograph Paths–3D
3.3.1 Spatial PH Curves
3.4 Design of Flyable Paths Using PH Curves
3.4.1 Design of Flyable Paths
Collision Avoidance
Figure 4.1 Obstacle avoidance in 2D
4.1 Research into Obstacle Avoidance
4.2 Obstacle Avoidance for Mapped Obstacles
Figure 4.2 Single-obstacle Dubins
4.2.1 Line Intersection Detection
4.2.2 Line Segment Intersection
Figure 4.8 Fail condition for same rotation direction
Figure 4.10 Solution for scaling start arc segment
4.2.3 Arc Intersection
Figure 4.13 Arc intersection sufficient conditions
Figure 4.15 Arc scaling for minimum-curvature intersection
Figure 4.16 Solution set for arc intersection
Figure 4.18 Multiple obstacle intersection trajectories
Figure 4.19 Clockwise Dubins trajectory
Figure 4.23 Complete trajectory set for 15 obstacles
4.3 Obstacle Avoidance of Unmapped Static Obstacles
4.3.1 Safety Circle Algorithm
4.3.2 Intermediate Waypoint Algorithm
4.4 Algorithmic Implementation
4.4.1 Dubins Path Modification
4.4.2 Clothoid Path Modification
4.4.3 PH Path Modification
4.4.4 Obstacle Avoidance in 3D
Figure 4.36 Obstacle avoidance in 3D (2D projection)
Path-Following Guidance
5.1 Path Following the Dubins Path
5.2 Linear Guidance Algorithm
5.3 Nonlinear Dynamic Inversion Guidance
5.4 Dynamic Obstacle Avoidance Guidance
Figure 5.6 Basic geometry for collision avoidance of UAV and aircraft
Figure 5.7 Sightline geometry for single UAV and aircraft
Figure 5.8 Sightline miss geometry for single UAV and aircraft
5.4.1 UAV Direction Control
Figure 5.12 Relative position geometry
5.4.2 Multiple Conflict Resolution
Figure 5.14 Sightline miss geometry for single UAV and two aircraft
Path Planning for Multiple UAVs
6.1 Problem Formulation
6.2 Simultaneous Arrival
6.3 Phase I: Producing Flyable Paths
6.4 Phase II: Producing Feasible Paths
6.4.1 Minimum Separation Distance
6.4.2 Non-Intersection Paths
6.4.3 Offset Curves
6.5 Phase III: Equalizing Path Lengths
6.6 Multiple Path Algorithm
6.7 Algorithm Application for Multiple UAVs
6.7.1 2D Dubins Paths
6.7.2 2D Clothoid Paths
6.8 2D Pythagorean Hodograph Paths
6.9 3D Dubins Paths
6.10 3D Pythagorean Hodograph Paths
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Cooperative Path Planning of Unmanned Aerial Vehicles Aerospace Series PEP

Cooperative Path Planning of Unmanned Aerial Vehicles Aerospace Series PEP

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Published by Bernardo Luz

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Published by: Bernardo Luz on Jul 22, 2013
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10/30/2013

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