Title:
Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random Trees
Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random Trees
Author(s)
Johnson, Eric N.
Mooney, John G.
Mooney, John G.
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Abstract
A randomized motion-planning approach to providing guidance
for helicopters with under-slung loads is presented. Rapidly-exploring Random
Trees are adapted to plan trajectories for simplified helicopter-load models.
Four different planning models are tested against four different
representative tasks. The poor performance of the baseline planner, and
subsequent efforts to improve that performance shows the sensitivity of the
RRT to proper sizing of the sampling area and amount of computation
available. Further lines of potential research into optimizing planner
performance and reducing computational cost are identified.
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Date Issued
2015-01
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Text
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Proceedings