An Accelerated Dual Fast Marching Tree Applied to Emergency Geometric Trajectory Generation

Andréas Guitart (1) , Daniel Delahaye (1) , Eric Feron (2)

1 ENAC - Ecole Nationale de l'Aviation Civile
2 KAUST - King Abdullah University of Science and Technology [Saudi Arabia]

This paper addresses the generation of aircraft emergency trajectories with obstacle avoidance. After presenting in detail the fast marching tree algorithm, in this paper we propose an improvement of its performance. First, the free space checking function is sped up. Then, the algorithm is used twice, firstly with the sampling of a few points to generate an approximate trajectory, and secondly with a sampling of points close to the first computed trajectory to refine it. The proposed method significantly reduces the computing time of the emergency geometric trajectory generation

Mots clés: Guitart; emergency trajectory; quadtree; octree; sampling-based path planning algorithm; Dubins curve

Domaines: Intelligence artificielle [cs.AI]

Andréas Guitart, Daniel Delahaye, Eric Feron. An Accelerated Dual Fast Marching Tree Applied to Emergency Geometric Trajectory Generation. Aerospace, 2022, ⟨10.3390/aerospace9040180⟩. ⟨hal-03619313⟩