Planning Algorithms for Autonomous Aerial Vehicle
| Authors: | Chanthery Elodie, ONERA, France, Metropolitan
Barbier Magali, ONERA, France, Metropolitan
Farges Jean-Loup, ONERA, France, Metropolitan |
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| Topic: | 7.5 Intelligent Autonomous Vehicles |
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| Session: | Vehicle Motion Planning |
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| Keywords: | autonomous vehicles, algorithms, planning, events, graphs, search methods |
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Abstract
Planning function is essential for increasing the autonomy of aerialsystems. This paper presents some improvements dedicated to the managementof degraded events in an existing controlarchitecture. These events may start an online replanning. In amilitary observation mission context, a complex modeling and severalefficient algorithms for planning are proposed. Experiments highlight theefficiency of these solutions.
