Rapid Uncertainty Propagation and Chance-Constrained Path Planning for Small Unmanned Aerial Vehicles

Andrew W. Berning Jr., Anouck Girard, Ilya Kolmanovsky, Sarah N. D'Souza

Published 2019-11-06Version 1

With the number of small Unmanned Aircraft Systems (sUAS) in the national airspace projected to increase in the next few years, there is growing interest in a traffic management system capable of handling the demands of this aviation sector. It is expected that such a system will involve trajectory prediction, uncertainty propagation, and path planning algorithms. In this work, we use linear covariance propagation in combination with a quadratic programming-based collision detection algorithm to rapidly validate declared flight plans. Additionally, these algorithms are combined with a Dynamic, Informed RRT* algorithm, resulting in a computationally efficient algorithm for chance-constrained path planning. Detailed numerical examples for both fixed-wing and quadrotor sUAS models are presented.