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Robotics 2017, 6(4), 28;

A High-Fidelity Energy Efficient Path Planner for Unmanned Airships

Department of Mechanical Engineering, University of Ottawa, Ottawa, ON K1N 6N5, Canada
Currently employed with National Research Council Canada, 1200 Montreal Rd, Ottawa, ON K1A 0R6, Canada
School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON K1N 6N5, Canada
These authors contributed equally to this work.
Author to whom correspondence should be addressed.
Received: 25 August 2017 / Revised: 25 September 2017 / Accepted: 9 October 2017 / Published: 18 October 2017
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This paper presents a comparative study on the effects of grid resolution, vehicle velocity, and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption, and collision avoidance while respecting the differential constraints of the vehicle is presented. Trajectories are generated using a variety of test environments and flight conditions to demonstrate that the inclusion of a high terrain map resolution, a temporal vehicle velocity, and a spatial wind vector field yields significant improvements in trajectory feasibility and energy economy when compared to trajectories generated using only two of these three elements. View Full-Text
Keywords: path planning; unmanned airship; wavefront expansion path planning; unmanned airship; wavefront expansion

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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).

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Recoskie, S.; Lanteigne, E.; Gueaieb, W. A High-Fidelity Energy Efficient Path Planner for Unmanned Airships. Robotics 2017, 6, 28.

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