{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,20]],"date-time":"2026-08-20T14:28:24Z","timestamp":1787236104863,"version":"build-2736575974"},"reference-count":55,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2017,10,18]],"date-time":"2017-10-18T00:00:00Z","timestamp":1508284800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents a comparative study on the effects of grid resolution, vehicle velocity, and wind vector fields on the trajectory planning of unmanned airships. A wavefront expansion trajectory planner that minimizes a multi-objective cost function consisting of flight time, energy consumption, and collision avoidance while respecting the differential constraints of the vehicle is presented. Trajectories are generated using a variety of test environments and flight conditions to demonstrate that the inclusion of a high terrain map resolution, a temporal vehicle velocity, and a spatial wind vector field yields significant improvements in trajectory feasibility and energy economy when compared to trajectories generated using only two of these three elements.<\/jats:p>","DOI":"10.3390\/robotics6040028","type":"journal-article","created":{"date-parts":[[2017,10,18]],"date-time":"2017-10-18T11:10:00Z","timestamp":1508325000000},"page":"28","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["A High-Fidelity Energy Efficient Path Planner for Unmanned Airships"],"prefix":"10.3390","volume":"6","author":[{"given":"Steven","family":"Recoskie","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Ottawa, Ottawa, ON K1N 6N5, Canada"},{"name":"Currently employed with National Research Council Canada, 1200 Montreal Rd, Ottawa, ON K1A 0R6, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9179-4541","authenticated-orcid":false,"given":"Eric","family":"Lanteigne","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Ottawa, Ottawa, ON K1N 6N5, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6490-4648","authenticated-orcid":false,"given":"Wail","family":"Gueaieb","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON K1N 6N5, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,10,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kong, Z., Korukanti, V., and Mettler, B. 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