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Trajectory Generation and Path Planning for Autonomous AerobotsThis paper presents global path planning algorithms for the Titan aerobot based on user defined waypoints in 2D and 3D space. The algorithms were implemented using information obtained through a planner user interface. The trajectory planning algorithms were designed to accurately represent the aerobot's characteristics, such as minimum turning radius. Additionally, trajectory planning techniques were implemented to allow for surveying of a planar area based solely on camera fields of view, airship altitude, and the location of the planar area's perimeter. The developed paths allow for planar navigation and three-dimensional path planning. These calculated trajectories are optimized to produce the shortest possible path while still remaining within realistic bounds of airship dynamics.
Document ID
20070032830
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
Sharma, Shivanjli
(California Univ. Davis, CA, United States)
Kulczycki, Eric A.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Elfes, Alberto
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 23, 2013
Publication Date
April 10, 2007
Subject Category
Spacecraft Design, Testing And Performance
Meeting Information
Meeting: IEEE International Conference on Robotics and Automation
Location: Rome
Country: Italy
Start Date: April 10, 2007
End Date: April 14, 2007
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other
Keywords
trajectory
airship
planning

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