Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random TreesReportar como inadecuado


Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random Trees


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A randomized motion-planning approach to providing guidancefor helicopters with under-slung loads is presented. Rapidly-exploring RandomTrees are adapted to plan trajectories for simplified helicopter-load models.Four different planning models are tested against four differentrepresentative tasks. The poor performance of the baseline planner, andsubsequent efforts to improve that performance shows the sensitivity of theRRT to proper sizing of the sampling area and amount of computationavailable. Further lines of potential research into optimizing plannerperformance and reducing computational cost are identified.



Unmanned Aerial Vehicle UAV - Unmanned Aerial Vehicle UAV Publications -



Autor: Johnson, Eric N. - Mooney, John G. - -

Fuente: https://smartech.gatech.edu/







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