Abstract
Pathfinding is a core challenge in autonomous vehicle scouting. The difficulty in tackling it comes both from its aspect as an abstract traveling salesman problem, and from the physical limitations of the chosen vehicle that restrict possible paths to realistic ones. The physical limitations are especially strong for unmanned aerial vehicles with high turn radii like fixed-wing planes. This paper describes two complementary subsystems that have been implemented to tackle a scouting task with a fixed-wing plane for an area with static obstacles. The first is a turn-reluctant cover-path algorithm that provides a solution to the traveling salesman problem with soft turns. The second is a turn-aware short-path algorithm that provides a path from an initial to a final position while avoiding static obstacles and accounting for the minimum turn radius of the plane.
Original language | English (US) |
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Pages (from-to) | 101-109 |
Number of pages | 9 |
Journal | Proceedings of the International Telemetering Conference |
Volume | 57 |
State | Published - 2022 |
Event | 57th Annual International Telemetering Conference, ITC 2022 - Glendale, United States Duration: Oct 24 2022 → Oct 27 2022 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Instrumentation
- Computer Networks and Communications
- Signal Processing