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Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle

dc.contributor.authorCárdenas R., César A.spa
dc.contributor.authorLandero, V.spa
dc.contributor.authorR. González, Ramón E.spa
dc.contributor.authorAriza-Colpas, Paolaspa
dc.contributor.authorDe-la-Hoz-Franco, Emirospa
dc.contributor.authorCollazos-Morales, Carlos Andrésspa
dc.date.accessioned2021-10-29T13:40:43Z
dc.date.available2021-10-29T13:40:43Z
dc.date.issued2021
dc.identifier.urihttps://hdl.handle.net/11323/8817spa
dc.description.abstractA path planning method for an unmanned aerial system type quadrotor is proposed in this work. It is based on Dubins curves. Therefore, different points (initial and ending) are set for generation of several paths. Additionally, to validate the proposed model a computational resource is applied. Also, some flight dynamics limits and orientation angles computations are considered to be able to determine a simplified Dubins model. Dubins paths are commonly divided into low, medium and high altitude gains. It will depend on the altitude established for the start and end points and other configurations.spa
dc.format.mimetypeapplication/pdfspa
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internationalspa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/spa
dc.sourceInternational Conference on Computational Science and Its Applicationsspa
dc.subjectDubinsspa
dc.subjectVTOLspa
dc.subjectFlight dynamicsspa
dc.subjectPath planningspa
dc.titlePath Planning Approach for a Quadrotor Unmanned Aerial Vehiclespa
dc.typeArtículo de revistaspa
dc.source.urlhttps://link.springer.com/chapter/10.1007/978-3-030-86960-1_30spa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.identifier.doihttps://doi.org/10.1007/978-3-030-86960-1_30spa
dc.identifier.instnameCorporación Universidad de la Costaspa
dc.identifier.reponameREDICUC - Repositorio CUCspa
dc.identifier.repourlhttps://repositorio.cuc.edu.co/spa
dc.relation.referencesAlexis, K Dr.: Dubins Airplane. http://www.kostasalexis.com/dubins-airplane.html. (2017)spa
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dc.relation.referencesCárdenas, C.A., Grisales, V.H., Collazos Morales, C.A., Cerón-Muñoz, H.D., Ariza-Colpas, P., Caputo-Llanos, R.: Quadrotor Modeling and a PID Control Approach. In: Tiwary, U.S., Chaudhury, S. (eds.) IHCI 2019. LNCS, vol. 11886, pp. 281–291. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-44689-5_25spa
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dc.relation.referencesDubins, L.E.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. 79(3), 497–516 (1957)spa
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dc.relation.referencesCárdenas, R.C.A., et al.: Mathematical Modelling and Identification of a Quadrotor. In: Gervasi, O., et al. (eds.) ICCSA 2020. LNCS, vol. 12249, pp. 261–275. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-58799-4_19spa
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dc.relation.referencesOwen, M., Beard, R.W., McLain, T.W.: implementing Dubins airplane paths on fixed-wing UAVs*. In: Valavanis, K.P., Vachtsevanos, G.J. (eds.) Handbook of Unmanned Aerial Vehicles, pp. 1677–1701. Springer, Dordrecht (2015). https://doi.org/10.1007/978-90-481-9707-1_120spa
dc.relation.referencesPharpatara, P.: Trajectory planning for aerial vehicles with constraints. Theses. Université Paris-Saclay; Université d’Evry-Val-d’Essonne, September (2015). https://tel.archives-ouvertes.fr/tel-01206423spa
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dc.relation.referencesValavanis, K.P., Vachtsevanos, G.J. (eds.): Handbook of Unmanned Aerial Vehicles. Springer, Dordrecht (2015). https://doi.org/10.1007/978-90-481-9707-1spa
dc.type.coarhttp://purl.org/coar/resource_type/c_6501spa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/articlespa
dc.type.redcolhttp://purl.org/redcol/resource_type/ARTspa
dc.type.versioninfo:eu-repo/semantics/acceptedVersionspa
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aaspa
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2spa


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