تقرير
Path Planning in 3D with Motion Primitives for Wind Energy-Harvesting Fixed-Wing Aircraft
| العنوان: | Path Planning in 3D with Motion Primitives for Wind Energy-Harvesting Fixed-Wing Aircraft |
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| المؤلفون: | Ryu, Seung-Keol, Moncton, Michael, Choi, Han-Lim, Frew, Eric |
| سنة النشر: | 2023 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | 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. Comment: 4 pages |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2311.10915 |
| رقم الأكسشن: | edsarx.2311.10915 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |