Motion Planning Design & Model
Overview
The following project involves the details surrounding a plan for a time-optimal path utilized by an Unmanned Aerial Vehicle (UAV). The path of the UAV is assumed to travel point-to-point within a complex wind field. This is represented by a vector field at points within the 2D space denoted in figure 1. Each point represents a 2D vector representing the winds which are assumed to be known within the system design. Furthermore, this project includes an analysis of the system and its planning with each path.
Approach
Within the 2D space, the maximum wind-speed is defined by default as 1. The UAV can move with an air-speed |𝑉𝑎| of 1
Dijkstra’s Algorithm was implemented and displayed through the system in the most comprehensive manner possible to the user of the system – this was a breakdown of the cost of each path being compared to the desired path that the user of the system is requested to input. This input is error checked affirming that the input is within the specifications of the randomly generated sample range. This aspect of the system can be improved in future by employing a character check to confirm input is a valid integer and have improved, more specific error messages.
The University of Sydney
Vishant Prasad