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UAVs mission planning with flight level constraint using Fast Marching Square Method

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorGonzález Pérez, Verónica
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.date.accessioned2023-12-04T11:43:15Z
dc.date.available2023-12-04T11:43:15Z
dc.date.issued2017-08-01
dc.description.abstractIn the last decade, Unmanned Aerial Vehicles (UAVs) have been a research focus for many purposes. Many of these studies require a path planning to perform autonomous flights, as well as the maintenance of a fixed flight level with respect to the ground to capture videos or overlying images. This article presents an approach to plan a mission for UAVs keeping a fixed flight level constraint. The 3D environment where the planning is carried out is an open field with non-uniform terrain. The approach proposed is based on the Fast Marching Square (FM ) method, which generates a path free from obstacles. Our approach includes two adjustment parameters. Depending on the values of these parameters, the restriction of flight level can be modified, as well as the smoothness and safety of the generated paths. Simulated experiments carried out in this work demonstrate that the proposed approach generates trajectories respecting a fixed flight level over the ground with successful results.en
dc.description.sponsorshipThe research leading to these results has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.en
dc.description.statusPublicadoes
dc.format.extent9
dc.identifier.bibliographicCitationRobotics and Autonomous Systems, v. 94, pp.: 162-171.en
dc.identifier.doihttps://doi.org/10.1016/j.robot.2017.04.021
dc.identifier.issn0921-8890
dc.identifier.publicationfirstpage162
dc.identifier.publicationlastpage171
dc.identifier.publicationtitleROBOTICS AND AUTONOMOUS SYSTEMSen
dc.identifier.publicationvolume94
dc.identifier.urihttps://hdl.handle.net/10016/39030
dc.identifier.uxxiAR/0000020222
dc.language.isoengen
dc.publisherElsevier
dc.relation.projectIDComunidad de Madrid. S2013/MIT-2748/RoboCity2030-III-CMes
dc.rights© 2017 Elsevier B.V. All rights reserved.en
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherUnmanned aerial vehiclesen
dc.subject.otherFast marching methoden
dc.subject.other3D path planningen
dc.subject.otherMission planningen
dc.subject.otherFlight levelen
dc.titleUAVs mission planning with flight level constraint using Fast Marching Square Methoden
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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