Online trajectory generation using clothoid segments

Volker Schneider; Patrick Piprek; Simon P. Schatz; Thäddaus Baier; Christoph Dörhöfer; Markus Hochstrasser; Agnes Gabrys; Erik Karlsson; Christoph Krause; Patrick J. Lauffs; Nils C. Mumm; Kajetan Nürnberger; Lars Peter; Phillip Spiegel; Lukas Steinert; Alexander Zollitsch; Florian Holzapfel

doi:10.1109/ICARCV.2016.7838711

Online trajectory generation using clothoid segments

Volker Schneider, Patrick Piprek, Simon P. Schatz, Thäddaus Baier, Christoph Dörhöfer, Markus Hochstrasser, Agnes Gabrys, Erik Karlsson, Christoph Krause, Patrick J. Lauffs, Nils C. Mumm, Kajetan Nürnberger, Lars Peter, Phillip Spiegel, Lukas Steinert, Alexander Zollitsch, Florian Holzapfel

Chair of Flight System Dynamics

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

27 Scopus citations

Abstract

In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2^nd order error dynamics, which hence requires more trajectory information than a conventional approach. The presented test results were obtained via in-flight tests with an experimental CS 23 aircraft.

Original language	English
Title of host publication	2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509035496
DOIs	https://doi.org/10.1109/ICARCV.2016.7838711
State	Published - 2016
Event	14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 - Phuket, Thailand Duration: 13 Nov 2016 → 15 Nov 2016

Publication series

Name	2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

Conference

Conference	14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Country/Territory	Thailand
City	Phuket
Period	13/11/16 → 15/11/16

Keywords

clothoids
euler spirals
flight plan following
trajectory generation
waypoint flying

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10.1109/ICARCV.2016.7838711

Cite this

Schneider, V., Piprek, P., Schatz, S. P., Baier, T., Dörhöfer, C., Hochstrasser, M., Gabrys, A., Karlsson, E., Krause, C., Lauffs, P. J., Mumm, N. C., Nürnberger, K., Peter, L., Spiegel, P., Steinert, L., Zollitsch, A., & Holzapfel, F. (2016). Online trajectory generation using clothoid segments. In 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 Article 7838711 (2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARCV.2016.7838711

@inproceedings{61963e3389ec4055b228662594a95266,

title = "Online trajectory generation using clothoid segments",

abstract = "In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2nd order error dynamics, which hence requires more trajectory information than a conventional approach. The presented test results were obtained via in-flight tests with an experimental CS 23 aircraft.",

keywords = "clothoids, euler spirals, flight plan following, trajectory generation, waypoint flying",

author = "Volker Schneider and Patrick Piprek and Schatz, {Simon P.} and Th{\"a}ddaus Baier and Christoph D{\"o}rh{\"o}fer and Markus Hochstrasser and Agnes Gabrys and Erik Karlsson and Christoph Krause and Lauffs, {Patrick J.} and Mumm, {Nils C.} and Kajetan N{\"u}rnberger and Lars Peter and Phillip Spiegel and Lukas Steinert and Alexander Zollitsch and Florian Holzapfel",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 ; Conference date: 13-11-2016 Through 15-11-2016",

year = "2016",

doi = "10.1109/ICARCV.2016.7838711",

language = "English",

series = "2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016",

}

Schneider, V, Piprek, P, Schatz, SP, Baier, T, Dörhöfer, C, Hochstrasser, M, Gabrys, A, Karlsson, E, Krause, C, Lauffs, PJ, Mumm, NC, Nürnberger, K, Peter, L, Spiegel, P, Steinert, L, Zollitsch, A & Holzapfel, F 2016, Online trajectory generation using clothoid segments. in 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016., 7838711, 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Institute of Electrical and Electronics Engineers Inc., 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Phuket, Thailand, 13/11/16. https://doi.org/10.1109/ICARCV.2016.7838711

Online trajectory generation using clothoid segments. / Schneider, Volker; Piprek, Patrick; Schatz, Simon P. et al.
2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7838711 (2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Online trajectory generation using clothoid segments

AU - Schneider, Volker

AU - Piprek, Patrick

AU - Schatz, Simon P.

AU - Baier, Thäddaus

AU - Dörhöfer, Christoph

AU - Hochstrasser, Markus

AU - Gabrys, Agnes

AU - Karlsson, Erik

AU - Krause, Christoph

AU - Lauffs, Patrick J.

AU - Mumm, Nils C.

AU - Nürnberger, Kajetan

AU - Peter, Lars

AU - Spiegel, Phillip

AU - Steinert, Lukas

AU - Zollitsch, Alexander

AU - Holzapfel, Florian

PY - 2016

Y1 - 2016

N2 - In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2nd order error dynamics, which hence requires more trajectory information than a conventional approach. The presented test results were obtained via in-flight tests with an experimental CS 23 aircraft.

AB - In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2nd order error dynamics, which hence requires more trajectory information than a conventional approach. The presented test results were obtained via in-flight tests with an experimental CS 23 aircraft.

KW - clothoids

KW - euler spirals

KW - flight plan following

KW - trajectory generation

KW - waypoint flying

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U2 - 10.1109/ICARCV.2016.7838711

DO - 10.1109/ICARCV.2016.7838711

M3 - Conference contribution

AN - SCOPUS:85015253680

T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

Y2 - 13 November 2016 through 15 November 2016

ER -

Schneider V, Piprek P, Schatz SP, Baier T, Dörhöfer C, Hochstrasser M et al. Online trajectory generation using clothoid segments. In 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 7838711. (2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016). doi: 10.1109/ICARCV.2016.7838711

Online trajectory generation using clothoid segments

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