TG2M: Trajectory Generator and Guidance Module for the Aerial Vehicle Control Language AVCL

Barrientos Cruz, Antonio and Colorado Montaño, Julián and Gutiérrez Mier, Pedro (2009). TG2M: Trajectory Generator and Guidance Module for the Aerial Vehicle Control Language AVCL. In: "40th International Symposium on Robotics", 10/03/2009 - 14/03/2009, Barcelona, España. ISBN 978-84-920933-8-0.

Description

Title: TG2M: Trajectory Generator and Guidance Module for the Aerial Vehicle Control Language AVCL
Author/s:
  • Barrientos Cruz, Antonio
  • Colorado Montaño, Julián
  • Gutiérrez Mier, Pedro
Item Type: Presentation at Congress or Conference (Article)
Event Title: 40th International Symposium on Robotics
Event Dates: 10/03/2009 - 14/03/2009
Event Location: Barcelona, España
Title of Book: Proceedings of 40th International Symposium on Robotics
Date: 2009
ISBN: 978-84-920933-8-0
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents a novel framework for high-level complex mission planning – AVCL and its built-in trajectory generator module – TG 2 M. For the mission planning we present a language capable of describing the missions and capabilities of a heterogeneous group of vehicles, which includes its interpreter, a definition of a base-vehicle, and a Mission Planner (MP) that uses GIS as the data-model for the world. This MP is not tied to a particular set of vehicles, sensors or commands, which means that at any given time new functionality can be loaded and displayed to the human operator as new options and commands, allowing to control and display N mission at the same time. In addition for low-level mission guidance, the TG 2 M addresses the feature of generating complex trajectories within mission-specific constraints, improving the typical civil system which use basic trajectory-generation algorithms, capable only of linear waypoint navigation, with little or non-existent control over the trajectory. Final experiments will test the TG 2 M mathematical framework for trajectory generation showing the AVCL capabilities for the mission planning and control of the UAV.

More information

Item ID: 5423
DC Identifier: http://oa.upm.es/5423/
OAI Identifier: oai:oa.upm.es:5423
Official URL: http://www.isr09.com/
Deposited by: Memoria Investigacion
Deposited on: 14 Dec 2010 09:36
Last Modified: 20 Apr 2016 14:14
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