Preliminary Evaluation of Rapidly-Exploring Random Trees for Sling-Load Flight Guidance
Johnson, Eric N.
Mooney, John G.
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A novel approach to providing guidance for helicopters with under-slung loads is presented. Rapidly-exploring Ran- dom Trees are adapted to plan trajectories for simplified helicopter-load models. The algorithm is presented with a task to place a load in a specific location at a moment when the load is motionless, mimicing the actions of helicopter-based Christmas tree harvesting. The solutions provided by the RRT method vary in aggressiveness and precision, and are not ready for live implementation, but show promise in future development of this approach.