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Real-time rendezvous point selection for a nonholonomic vehicle

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4 Author(s)
Briggs Wilson, D. ; Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia ; Trujillo Soto, M.A. ; Goktogan, A.H. ; Sukkarieh, S.

Fixed-wing Unmanned Aerial Vehicle (UAV) rendezvous is necessary for reduced fuel consumption during leader-follower formation flight. We propose a heuristic direct search algorithm that plans a time-optimal path for a follower UAV to rendezvous with a leader whose future path is known and unchanging. The kinematic constraints of the UAV are considered and discontinuities inherent to the minimum-length paths are dealt with. Experiments using quadrotors to emulate fixed-wings, demonstrate the algorithm planning and replanning optimal paths to rendezvous in real-time.

Published in:

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Date of Conference:

6-10 May 2013