Integration of path planning, trajectory generation and trajectory tracking control for aircraft mission autonomy

Woo, Ji-Won; An, Jun-Young; Cho, Moon Gyeang; Kim, Chang-Joo

doi:10.1016/j.ast.2021.107014

Cited by 29 publications

(13 citation statements)

References 27 publications

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“…Furthermore, PQ-RRT [26] and bidirectional approaches [44] may also be useful to accelerate the convergence rate. Additionally, Line-of-Sight Path Optimization (LoSPO) technique [33] is a preferable option as a strategy to shorten the convergence time to the optimal path. Likewise, other RRT-based approaches can be applied to further improve the algorithm for real-time local planners.…”

Section: Discussionmentioning

confidence: 99%

“…To solve this problem, a simple iterative method is used to estimate the exact arc length and travel time simultaneously. Further details about trajectory generation are represented in Ref [33].…”

Section: Trajectory Tracking Simulationmentioning

confidence: 99%

“…Incremental Backstepping Control (IBSC) guarantees stability across all Operational Flight Envelopes (OFE) based on the Lyapunov stability theory and is not affected by mismatched uncertainty. For this reason, there have been many approaches to design a controller based on the IBSC concept [34][35][36][37][38][39][40], and this paper also uses an IBSC-based tracking controller [33]. The reference trajectory was directly used as a feedback signal to obtain excellent tracking performance.…”

Section: Trajectory Tracking Simulationmentioning

confidence: 99%

“…For the completeness of this paper, the controller presented in Ref. [33] will be briefly described.…”

Section: Trajectory Tracking Simulationmentioning

confidence: 99%

“…where, Q ∈ R 6×6 , K 1 ∈ R 6×6 , and K 2 ∈ R 6×6 are diagonal, positive definite matrices composing controller gains, and Γ ξ ∈ R 6×6 is a diagonal, positive definite matrix composing updating law gains. If you need further details of the controller, referring to Ref [33] is recommended.…”

Section: Trajectory Tracking Simulationmentioning

confidence: 99%

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An Approach to Air-to-Surface Mission Planner on 3D Environments for an Unmanned Combat Aerial Vehicle

Woo

Choi

et al. 2022

Drones

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Recently, interest in mission autonomy related to Unmanned Combat Aerial Vehicles(UCAVs) for performing highly dangerous Air-to-Surface Missions(ASMs) has been increasing. Regarding autonomous mission planners, studies currently being conducted in this field have been mainly focused on creating a path from a macroscopic 2D environment to a dense target area or proposing a route for intercepting a target. For further improvement, this paper treats a mission planning algorithm on an ASM which can plan the path to the target dense area in consideration of threats spread in a 3D terrain environment while planning the shortest path to intercept multiple targets. To do so, ASMs are considered three sequential mission elements: ingress, intercept, and egress. The ingress and egress elements require a terrain flight path to penetrate deep into the enemy territory. Thus, the proposed terrain flight path planner generates a nap-of-the-earth path to avoid detection by enemy radar while avoiding enemy air defense threats. In the intercept element, the shortest intercept path planner based on the Dubins path concept combined with nonlinear programming is developed to minimize exposure time for survivability. Finally, the integrated ASM planner is applied to several mission scenarios and validated by simulations using a rotorcraft model.

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Section: Discussionmentioning

confidence: 99%

Section: Trajectory Tracking Simulationmentioning

confidence: 99%