Trajectory planning with collision avoidance for autonomous helicopter by evolutionary methods

L. Zhao, V. R. Murthy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

An optimal trajectory for an unmanned helicopter, based on evolutionary methods with waypoint constraints, expected and unexpected obstacles, is developed. The method can be implemented for real time computations for unexpected changes in the environment. The individuals in the population with entrapment in concave obstacles are eliminated automatically based on fitness values by virtue of their parallel evaluations. Two options of collision avoidance with another member of the fleet are investigated for intersecting flight paths with acute and obtuse angles. Finally the evolutionary method is validated by applying to a problem in a highly constrained area with concave obstacles.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - 44th AIAA Aerospace Sciences Meeting
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages2808-2833
Number of pages26
ISBN (Print)1563478072, 9781563478079
DOIs
StatePublished - Jan 1 2006
Event44th AIAA Aerospace Sciences Meeting 2006 - Reno, NV, United States
Duration: Jan 9 2006Jan 12 2006

Publication series

NameCollection of Technical Papers - 44th AIAA Aerospace Sciences Meeting
Volume4

Other

Other44th AIAA Aerospace Sciences Meeting 2006
CountryUnited States
CityReno, NV
Period1/9/061/12/06

ASJC Scopus subject areas

  • Space and Planetary Science
  • Aerospace Engineering

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  • Cite this

    Zhao, L., & Murthy, V. R. (2006). Trajectory planning with collision avoidance for autonomous helicopter by evolutionary methods. In Collection of Technical Papers - 44th AIAA Aerospace Sciences Meeting (pp. 2808-2833). (Collection of Technical Papers - 44th AIAA Aerospace Sciences Meeting; Vol. 4). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2006-232