{
"title": "A Method to Compute Efficient 3D Helicopters Flight Trajectories Based on a Motion Polymorph-Primitives Algorithm",
"authors": "Konstanca Nikolajevic, Nicolas Belanger, David Duvivier, Rabie Ben Atitallah, Abdelhakim Artiba",
"country": "France",
"institution": "Airbus Helicopters",
"volume": "104",
"journal": "International Journal of Computer, Electrical, Automation, Control and Information Engineering",
"pagesStart": 2026,
"pagesEnd": 2035,
"ISSN": "1307-6892",
"URL": "http:\/\/waset.org\/publications\/10003043",
"abstract": "Finding the optimal 3D path of an aerial vehicle under\r\nflight mechanics constraints is a major challenge, especially when\r\nthe algorithm has to produce real time results in flight. Kinematics\r\nmodels and Pythagorian Hodograph curves have been widely used\r\nin mobile robotics to solve this problematic. The level of difficulty\r\nis mainly driven by the number of constraints to be saturated at the\r\nsame time while minimizing the total length of the path. In this paper,\r\nwe suggest a pragmatic algorithm capable of saturating at the same\r\ntime most of dimensioning helicopter 3D trajectories\u2019 constraints\r\nlike: curvature, curvature derivative, torsion, torsion derivative, climb\r\nangle, climb angle derivative, positions. The trajectories generation\r\nalgorithm is able to generate versatile complex 3D motion primitives\r\nfeasible by a helicopter with parameterization of the curvature and the\r\nclimb angle. An upper \u201dmotion primitives\u2019 concatenation\u201d algorithm\r\nis presented based. In this article we introduce a new way of designing\r\nthree-dimensional trajectories based on what we call the \u201dDubins\r\ngliding symmetry conjecture\u201d. This extremely performing algorithm\r\nwill be soon integrated to a real-time decisional system dealing with\r\ninflight safety issues.",
"references": null,
"publisher": "World Academy of Science, Engineering and Technology",
"index": "International Science Index 104, 2015"
}