AER1217 Development of UAS Assignment
Planning Assignment
due Mar 18, 2019 9:00am
electronic submission (PDF file) only
1. Your task is to find a path through the following course from the start point to the end point for a fixed wing UAV. Using the map provided with the homework (IGVCmap.m and IGVCmap.jpg), identify a plan- ning strategy that can be used to navigate the following race course that can be employed by a UAV with forward velocity and heading rate as inputs to the vehicle. The files provided construct the IGVC map and store it in a 926×716 element grid, where each cell repre- sents a 10 cm x 10 cm area of the course. Implement your planner and present a combined motion planning solution that finds a straight- line path through the environment, then uses the carrot planner to locally drive the vehicle to the goal location. The start and end lo- cations are (40, 5, 3.14159) and (50, 10, not defined) for x,y and θ. You may use any code from the repository mentioned in class: https://github.com/WaterlooRobotics/mobilerobotics
2. Discuss at least three limitations of your selected approach for a fixed wing UAV: what assumptions did you made to simplify the real problem of navigating a robot through the IGVC auto-navigation course, and what modifications could you make to resolve each issue.
⃝c Steven Waslander, 2018-19 1