Skip to Main content Skip to Navigation

Trajectory planning for aerial vehicles with constraints

Abstract : The focus of this PhD thesis is on the trajectory planning module as a part of autonomous aircraft system. Feasible trajectories for aircraft flying in environment cluttered by obstacles are studied. Since aircraft dynamics are complex, nonlinear and nonholonomic; trajectory planning for such systems is very difficult and challenging. Rapidly-exploring Random Tree or RRT path planner is used as a basis to find a feasible trajectory. The advantage of this algorithm is that it does not consider only the complete vehicle model but also the environment. Two algorithms are developed to find a feasible and optimal solution. The RRT algorithm, combined with a preprocessing of the exploration space, is used for a complete realistic model of the system. However, this approach does not consider any optimal criteria. In order to consider performance criteria, the RRT* algorithm is used based on a simplified model with the help of the artificial potential field as a heuristic to improve the convergence rate to the solution. The algorithms are simulated in an application of hypersonic aerial vehicles, for example, interceptor missiles flying in high altitude. This makes the aerodynamically controlled aircraft have less maneuverability since the air density decreases exponentially with altitude. 3D shortest paths are developed and used as a metric. Therefore, a feasible and optimal trajectory is obtained efficiently. With these results, real-time constraints will be easier to verify if the algorithm is implemented on board the vehicle. In future work, replanning will be considered to improve the performance of the algorithm in case of dynamic environment or changes in the mission.
Document type :
Complete list of metadatas
Contributor : Pawit Pharpatara <>
Submitted on : Tuesday, September 29, 2015 - 9:28:57 AM
Last modification on : Tuesday, June 30, 2020 - 11:56:09 AM
Long-term archiving on: : Wednesday, December 30, 2015 - 10:17:59 AM


  • HAL Id : tel-01206423, version 1



Pawit Pharpatara. Trajectory planning for aerial vehicles with constraints. Automatic Control Engineering. Université Paris-Saclay; Université d'Evry-Val-d'Essonne, 2015. English. ⟨tel-01206423⟩



Record views


Files downloads