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

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.