3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Sayan Ghosh, Abhishek Halder and Dr. Manoranjan Sinha Intelligent Systems Lab
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Path Planning Scenarios
• Environment: Structured (Map known beforehand) Unstructured (Map not known beforehand)
Planning Approach: Global Approach (Act-after-thinking) Local Approach (Act-while-thinking)
Obstacles: Static Dynamic
Dynamics: 2D 3D
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Typical Map
Department of Aerospace Engineering
Tree Representation for Quadtree
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Distance Transformation
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Steps Followed Step 1 Given Obstacle Map Linear Quadtree Step 2
Quadtree Generation
Distance Transformation Step 3
Optimal Pavement Joining the mid points of the entry & exit boundary of the optimal quads
Step 4
Department of Aerospace Engineering
Optimal Safe Path
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Step 1
Step 3
Department of Aerospace Engineering
Step 2
Step 4
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Fuzzy Quadtree
Membership Function Values
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Fuzzy Quadtree
4/8
8/8
0
0
0
0
0
0
0
8/8
0
0
6/8
0
0
8/8
Array Representation of Fuzzy Quadtree
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
No Pop-up Obstacle
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Pop-up Obstacle Modified Quadtree
α
Modified Path
Pop-up obstacle in structured environment
2d sin 2 Safety Circle Diameter D 1 sin 2 Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Comparison between On-line Modified and Off-line Predicted Path
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework Specifying Minimum Quad Length λ for Factor of Safety
λ can be taken as the maximum dimension of the vehicle
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
MAV Turn Kinematics Consideration
min Quad Length = max (λ, 2Rmin+δ) Rmin
VCMD HDNG _ RATEmax
V2 R g tan
Rmin
V2 g tan max
max min(max1 , max2 )
2W 2 V SCL max
max1 cos 1
Stall limited Bank Angle Department of Aerospace Engineering
W n LLWmax
max 2 cos 1
Load limited Bank Angle Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Path Planning in Vatican City: A Realistic Simulation Satellite Image of Vatican City
Optimal Safe Path
Image Courtesy
Gray Scale Conversion
Noise Removal
Optimal Pavement
Distance Transformation
Fuzzy Quadtree Generation Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
S
G Path Planned from Start (S) to Goal (G) Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Thank You
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Back up Slide
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), 17-21 September 2007, Toulouse, France
Path Planning for a Fixed Wing Micro Air Vehicle in Fuzzy Quadtree Framework
Department of Aerospace Engineering
Indian Institute of Technology Kharagpur, INDIA
