26th Congress of International Council of the Aeronautical Sciences
including the 8th AIAA Aviation Technology, Integration, and Operations (ATIO) Conference
14 - 19 September 2008, Anchorage, Alaska, USA
Paper ICAS 2008-5.6.1 (AIAA 2008-8962)

3D OBSTACLE AVOIDANCE STRATEGIES FOR UAS (UNINHABITED AERIAL SYSTEMS) MISSION PLANNING AND RE-PLANNING

F. De Crescenzio, G. Miranda, F. Persiani, T. Bombardi
Univ. of Bologna, Italy

Keywords: 3D obstacle avoidance, uas

The ability to perform autonomous mission planning and replanning is considered one of the key enabling technologies for UASs (Uninhabited Aerial Systems). In this paper an heuristic 3D planning algorithm, capable to compute safe and efficient routes in terms of distance, time and fuel, is presented. It is based on considering UASs representative of real world systems as objects moving in a virtual environment which replicates the airspace. Original obstacle avoidance strategies have been conceived in order to generate mission planes which are consistent with flight rules and with the vehicle performance constraints. Simulation test results show that very efficient routes are computed in few seconds.

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