IEEE ICRA'07 Digest Template

1
Efficient Two-Phase 3D Motion Planning for
Fixed-Wing UAVs
Myung Hwangbo, James Kuffner, and Takeo Kanade
Robotics Institute, Carnegie Mellon University,
USA

• Two-phase real-time motion planning for 3D air
  slalom tasks in environments with obstacles.
• The first phase of the planner computes a global
  path via a 3D grid of kinematically feasible
  motions.
• The second phase involves a local planner that
  interconnects precomputed sets of dynamic motion
  primitives at the fine level.
• New heuristic introduced based on 2D Dubins
  curves that can account for altitude changes.

3D slalom results