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Memorias de investigación
Communications at congresses:
TG2M: Trajectory Generator and Guidance Module for the Aerial Vehicle Control Language AVCL
Year:2009
Research Areas
  • Automatic
Information
Abstract
This paper presents a novel framework for high-level complex mission planning ¿ AVCL and its built-in trajectory generator module ¿ TG2M. 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 TG2M 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 TG2M mathematical framework for trajectory generation showing the AVCL capabilities for the mission planning and control of the UAV.
International
Si
Congress
40th INTERNATIONAL SYMPOSIUM ON ROBOTICS (ISR 2009)
960
Place
Barcelona España
Reviewers
Si
ISBN/ISSN
978-84-920933-8-0
Start Date
10/03/2009
End Date
13/03/2009
From page
225
To page
232
Proceedings 40th INTERNATIONAL SYMPOSIUM ON ROBOTICS (ISR 2009)
Participants
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Julian David Colorado Montaño (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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