Sciweavers

Share
ICRA
2010
IEEE

Navigating multiple simple-airplanes in 3D workspace

10 years 1 days ago
Navigating multiple simple-airplanes in 3D workspace
Abstract— We present an algorithm for collision-free navigation of multiple flying robots in three-dimensional workspace. Our approach extends the model of a simple car to a simpleairplane, which has constraints on speed and steering angle and includes a configuration variable for the altitude. We use a locally optimal reciprocal collision avoidance scheme that computes the trajectory without any collisions or oscillations for each airplane independently. In addition, our algorithm explicitly considers the kinematic and dynamic constraints of a simple-airplane and uses the notion of variable reciprocity when choosing velocities to ensure that simple-airplanes that are less constrained take more responsibility for avoiding collisions. We test our approach in two simulations and compute collision-free and oscillation-free trajectories that satisfy the kinematic and dynamic constraints of each simple-airplane.
Jamie Snape, Dinesh Manocha
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Jamie Snape, Dinesh Manocha
Comments (0)
books