RT Conference Proceedings
T1 Energy-efficient trajectory generation with spline curves considering environmental and dynamic constraints for small UAS*
A1 Rodríguez, Leopoldo
A1 Balampanis, Fotios
A1 Cobano-Suárez, José-Antonio
A1 Maza, Iván
A1 Ollero, Aníbal
K1 Trajectory
K1 Wind
K1 Splines (mathematics)
K1 Wind energy generation
K1 Interpolation
K1 Cameras
AB This paper presents a method for trajectory generation with Bézier curves, by considering the wind field and dynamic constraints for small Unmanned Aerial Systems (UAS). Atmospheric phenomena affect UAS trajectories, so the wind presence should be considered in order efficiently perform a mission. These missions require precise area decomposition, efficient waypoint sequencing, and a smooth trajectory generation to fulfill the required level of safety and reliability. In this context, a path planning algorithm is presented which incorporates the use of an area decomposition scheme which considers complex shapes and restrictions, in order to provide high levels of coverage. A novel trajectory generation algorithm is proposed, which aims to harvest energy from the atmosphere by taking advantage of the previously estimated wind field and the identified wind features, such as shear wind and discrete gusts, by taking into account flight envelope restrictions. Different test cases and scenarios, including Software-In-The-Loop (SITL) simulations and real telemetry data analysis, are presented to assess the energy gain for the implemented algorithms. The results indicate promising energy gains of almost 15% in voltage saving if the mentioned factors are considered to re-plan the path with the energy-efficient trajectories.
PB IEEE
YR 2017
FD 2017-12-14
LK https://hdl.handle.net/10433/22999
UL https://hdl.handle.net/10433/22999
LA en
NO L. Rodríguez, F. Balampanis, J. A. Cobano, I. Maza and A. Ollero, "Energy-efficient trajectory generation with spline curves considering environmental and dynamic constraints for small UAS," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, 2017, pp. 1739-1745, doi: 10.1109/IROS.2017.8205987.
NO This work has been supported by the MarineUAS project (MSCA-ITN-2014-642153), funded by the European Commission under the Horizon 2020 Programme as part of the Marie Sklodowska Curie Actions and by the AEROMAIN project (DPI2014-5983-C2-1-R), funded by the Science and Innovation Ministry of the Spanish Government.
NO Deporte e Informática
DS RIO
RD Apr 23, 2026