Pregled bibliografske jedinice broj: 1189636
Parabolic Airdrop Trajectory Planning for Multirotor Unmanned Aerial Vehicles
Parabolic Airdrop Trajectory Planning for Multirotor Unmanned Aerial Vehicles // IEEE Access, 10 (2022), 36907-36923 doi:10.1109/access.2022.3164434 (međunarodna recenzija, članak, znanstveni)
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Naslov
Parabolic Airdrop Trajectory Planning for
Multirotor Unmanned Aerial Vehicles
Autori
Ivanovic, Antun ; Orsag, Matko
Izvornik
IEEE Access (2169-3536) 10
(2022);
36907-36923
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
Unmanned aerial vehicles ; motion planning ; unmanned autonomous systems
Sažetak
In this paper we present a motion planning method for the parabolic airdrop using multirotor UAVs. The first step is to determine a set of parabolic trajectories that can reach a desired target. Next, we plan a path to the payload launch point, and based on that path we plan a collision-free trajectory that safely executes both launch and stopping motions. The described motion planning method is extensively tested in the simulation environment: by executing many trajectories through repeatability analysis ; planning in a large city-like environment ; and planning in a dense office environment. Furthermore, the method is tested through real-world experiments in indoor and outdoor environments. In both environments, we performed the repeatability analysis and the obstacle avoidance experiments while delivering the payload to the target. The video demonstrating our simulation and experimental analyses is available at: https://youtu.be/HJCH2vJEuuo
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Projekti:
HRZZ-UIP-2017-05-4042 - Strukturiran ekološki uzgoj primjenom autonomnih robota u staklenicima (SPECULARIA) (Orsag, Matko, HRZZ ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Citiraj ovu publikaciju:
Časopis indeksira:
- Current Contents Connect (CCC)
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus