A probabilistic algorithm for mode based motion planning of agile unmanned air vehicles in complex E

In this work, we consider the design of a probabilistic trajectory planner for a highly manoeuvrable unmanned air vehicle flying in a dense and complex city-like environment. Our design hinges on the decomposition of the problem into a) flight controls of fundamental agile-manoeuvring flight modes and b) trajectory planning using these controlled flight modes from which almost any aggressive manoeuvre (or a combination of) can be created. This allows significant decreases in control input space and thus search dimensions, resulting in a natural way to design controllers and implement trajectory planning using the closed-form flight modes. Focusing on the trajectory planning part, we provide a three-step probabilistic trajectory planner. In the first step, the algorithm rapidly explores the environment through a randomized reachability tree search using an approximate line segment models. The resulting connecting path is converted into flight milestones through a line-of-sight segmentation. This path and the corresponding milestones are refined with a single-query Probabilistic Road Map (PRM) implementation that creates dynamically feasible flight paths with distinct flight mode selections. We address the problematic issue of narrow passages through non-uniform distributed capture regions, which prefer state solutions that align the vehicle to enter the milestone region in line with the next milestone to come. Numerical simulations in 3D and 2D demonstrate the ability of the method to provide real-time solutions in dense and complex environments.