Next Article in Journal / Special Issue
Unmanned Aerial Systems (UAS) Research Opportunities
Previous Article in Journal / Special Issue
Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs
Article Menu

Export Article

Open AccessArticle
Aerospace 2015, 2(2), 171-188; doi:10.3390/aerospace2020171

Development of Flight Path Planning for Multirotor Aerial Vehicles

1
Department of Electrical Engineering, National Chung Hsing University, Taichung 402, Taiwan
2
Aeronautical System Research Division, Chung Shan Institute of Science and Technology, Taichung 407, Taiwan
*
Author to whom correspondence should be addressed.
Academic Editor: David Anderson
Received: 21 November 2014 / Revised: 11 March 2015 / Accepted: 24 March 2015 / Published: 27 April 2015
(This article belongs to the Special Issue Unmanned Aerial Systems 2015)
View Full-Text   |   Download PDF [3915 KB, uploaded 27 April 2015]   |  

Abstract

This study addresses the flight-path planning problem for multirotor aerial vehicles (AVs). We consider the specific features and requirements of real-time flight-path planning and develop a rapidly-exploring random tree (RRT) algorithm to determine a preliminary flight path in three-dimensional space. Since the path obtained by the RRT may not be optimal due to the existence of redundant waypoints. To reduce the cost of energy during AV’s flight, the excessive waypoints need to be refined. We revise the A-star algorithm by adopting the heading of the AV as the key indices while calculating the cost. Bezier curves are finally proposed to smooth the flight path, making it applicable for real-world flight. View Full-Text
Keywords: flight path planning; rapidly-exploring random tree algorithm; A-star algorithm; three-dimensional space flight path planning; rapidly-exploring random tree algorithm; A-star algorithm; three-dimensional space
Figures

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Tsai, Y.-J.; Lee, C.-S.; Lin, C.-L.; Huang, C.-H. Development of Flight Path Planning for Multirotor Aerial Vehicles. Aerospace 2015, 2, 171-188.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Aerospace EISSN 2226-4310 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top