A Framework For Model Based Contour Flight Planning

Abstract

This paper proposes a framework for helicopter contour flight planning. To automate low altitude flight, a method for reliable path planning is essential. This work introduces a framework that yields trajectories while aiming for continuous control input. Several metrics based on terrain and land-use data can be taken into consideration, based on which a hierarchical planner is employed. A coarse euclidean planner assures a globally optimized waypoint list, followed by a highly modified Vector Field Histogram algorithm which generates a flyable trajectory. The framework has been proven to produce satisfactory results using real-world data, showing significant path cost improvement when compared to a purely local planning approach. Furthermore, it has been validated, that the generated trajectories can be followed by the path following controllers deployed in the DLR's research simulator.