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
| dc.contributor.author | Johnson, Eric N. | |
| dc.contributor.author | Mooney, John G. | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2015-01-30T13:51:09Z | |
| dc.date.available | 2015-01-30T13:51:09Z | |
| dc.date.issued | 2015-01 | |
| dc.description | Presented at the Sixth AHS International Specialists’ Meeting On Unmanned Rotorcraft Systems, Chandler, Arizona, January 20-22, 2015 | en_US |
| dc.description.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. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Johnson, Eric N. & Mooney, John G. (2015). "Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random Trees". Sixth AHS International Specialists’ Meeting On Unmanned Rotorcraft Systems, Chandler, Arizona, January 20-22, 2015. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/53164 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Unmanned aerial vehicles | en_US |
| dc.subject | Helicopters | en_US |
| dc.subject | Under-slung loads | en_US |
| dc.subject | Guidance | en_US |
| dc.title | Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random Trees | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Johnson, Eric N. | |
| local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
| relation.isAuthorOfPublication | 175a1f2b-c14e-4c43-a9e5-136fb7f8e5d0 | |
| relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |