Path-Parameterization Approach Using Trajectory Primitives for Three-Dimensional Motion Planning

Abraham J. Pachikara, Joseph J. Kehoe, Rick Lind
2013 Journal of Aerospace Engineering  
Motion planning determines trajectories for vehicles that link an initial location and heading with a final location and heading. Techniques for motion planning have been developed for two-dimensional maneuvering; however, they are less mature for three-dimensional maneuvering. The concept of motion primitives is particularly attractive for motion planning that determines trajectories as a set of maneuvers that satisfy differential constraints. This paper furthers work on a higher-level
more » ... ion of trajectory primitives that consider sequences of motion primitives. In this paper, trajectory primitives are developed that deal with airspace constraints of an environment. The motion planning is shown to be an optimization involving a pair of trajectory primitives that is related by an intermediate waypoint. The resulting path is completely parameterized by the waypoint location.
doi:10.1061/(asce)as.1943-5525.0000152 fatcat:gc2xnhyfwzgcrpozhz2enso5xq