Unmanned aircraft systems use a variety of techniques to plan collision-free flight paths given a map of obstacles and no-fly zones.  However, maps are not perfect and obstacles may change over time or be detected during flight, which may invalidate paths that the aircraft is already following.  Thus, dynamic in-flight replanning is required. Numerous strategies can be used for replanning, where the time requirements and the plan quality associated with each strategy depend on the environment around the original flight path.  In this paper, we investigate the use of machine learning techniques, in particular support vector machines, to choose the best possible replanning strategy depending on the amount of time available. The system has been implemented, integrated and tested in hardware-in-the-loop simulation with a Yamaha RMAX helicopter platform.
['Mariusz Wzorek', 'Jonas Kvarnström', 'Patrick Doherty']
Choosing Path Replanning Strategies for Unmanned Aircraft Systems