Micro UAV Path Planning for Reconnaissance in Wind

Ceccarelli, Nicola; Enright, John J.; Frazzoli, Emilio; Rasmussen, Steven J.; Schumacher, Corey

doi:10.1109/acc.2007.4282479

Cited by 78 publications

(45 citation statements)

References 10 publications

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“…The study includes the most comprehensive set of requirements including the ones overlooked in a wide range of studies. This study extends existing literature 1,3,20,21,[32][33][34][35][36][37][38][39][40][41][42][43][44][45][46][47][48][49][50][51] by placing a special importance on aviation rules and utilisation considerations. The model generates suitable paths that address UAV performance limitations, environmental factors, basic aviation rules, flight dynamics, UAV utilisation considerations and user requirements.…”

Section: Introductionsupporting

confidence: 60%

“…A complex dynamic environment is the one that includes many constraints with different characteristics and various mission, flight, and environment related requirements. Even though, studies in autonomous path planning 1,3,20,21,[32][33][34][35][36][37][38][39][40][41][42][43][44][45][46][47][48][49][50][51] address many challenges, domainspecific operational issues, such as utilisation considerations and aviation rules, did not receive adequate attention. This is important if the UAV under study is a medium altitude high endurance (MALE) UAV, because these types of UAVs are subject to aviation rules in addition to other criteria.…”

Section: Introductionmentioning

confidence: 99%

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Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles

2016

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This research compares 3D versus 4D (three spatial dimensions and the time dimension) multi-objective and multi-criteria path-planning for unmanned aerial vehicles in complex dynamic environments. In this study, we empirically analyse the performances of 3D and 4D path planning approaches. Using the empirical data, we show that the 4D approach is superior over the 3D approach especially in complex dynamic environments. The research model consisting of flight objectives and criteria is developed based on interviews with an experienced military UAV pilot and mission planner to establish realism and relevancy in unmanned aerial vehicle flight planning. Furthermore, this study incorporates one of the most comprehensive set of criteria identified during our literature search. The simulation results clearly show that the 4D path planning approach is able to provide solutions in complex dynamic environments in which the 3D approach could not find a solution.Keywords: Unmanned aerial vehicles, UAV, path planning, modelling, simulation, 3D path planning, 4D path planning Vol. 66, No. 6, November 2016, pp. 651-664, DOI : 10.14429/dsj.66 , VOL. 66, NO. 6, NOVEMbER 2016 652 model used to create flight paths in 4D environment. The simulation model is more applicable and realistic compared to other studies examined during the literature review. The study includes the most comprehensive set of requirements including the ones overlooked in a wide range of studies. This study extends existing literature 1,3,20,21,[32][33][34][35][36][37][38][39][40][41][42][43][44][45][46][47][48][49][50][51] by placing a special importance on aviation rules and utilisation considerations. The model generates suitable paths that address UAV performance limitations, environmental factors, basic aviation rules, flight dynamics, UAV utilisation considerations and user requirements. It helps in online and offline planning of optimal paths based on distance, fuel consumption, or time objectives, while implementing the described flight criteria. To build the simulation model (SM), we first built a conceptual model (CM) to structure the problem 68 . In the simulations, for each objective, various scenarios are created by changing the number of static and dynamic obstacles and target types. In each scenario, the path planning approach found the shortest and least costly flight paths. The path search is performed by A* heuristic algorithm proven to be complete and optimal. Additionally, in the experiments, A* algorithms with different heuristic parameters are compared using various scenarios in static and dynamic environments under different constraints. Since current UAVs have to make predictions and estimations about the possible future locations of mobile objects, the simulations also include path searches in time varying environments represented with a 4D grid. The 4D grid is constructed using a combination of 3D grids. Each 3D grid is a possible configuration of the world space at a specific time. A time-dimensional search space consider...

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Section: Introductionsupporting

confidence: 60%

Section: Introductionmentioning

confidence: 99%

Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles

2016

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“…Vector field guidance has demonstrated robustness to wind disturbance by utilising ground speed and course for navigation [7]. It was shown that path planning with a known constant wind can improve mission accuracy and efficiency [8]. By using pre-computed information of aircraft turning performance in wind, it has also been shown that path following in wind can be improved [9].…”

Section: Introductionmentioning

confidence: 98%

Disturbance Observer Based Control with Anti-Windup Applied to a Small Fixed Wing UAV for Disturbance Rejection

Smith

Liu

2017

J Intell Robot Syst

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Small Unmanned Aerial Vehicles (UAVs) are attracting increasing interest due to their favourable features; small size, low weight and cost. These features also present different challenges in control design and aircraft operation. An accurate mathematical model is unlikely to be available meaning optimal control methods become difficult to apply. Furthermore, their reduced weight and inertia mean they are significantly more vulnerable to environmental disturbances such as wind gusts. Larger disturbances require more control actuation, meaning small UAVs are far more susceptible to actuator saturation. Failure to account for this can lead to controller windup and subsequent performance degradation. In this work, numerical simulations are conducted comparing a baseline Linear Quadratic Regulator (LQR) controller to integral augmentation and Disturbance Observer Based Control (DOBC). An anti-windup scheme is added to the DOBC to attenuate windup The simulations conduct manoeuvres which would occur during landing, statistically the most dangerous flight phase, where fast disturbance rejection is critical. Validation simulations are then conducted using commercial X-Plane simulation software. This demonstrates that DOBC with anti-windup provides faster disturbance rejection of both modelling errors and external disturbances.

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“…From (16) shows that ν k = ω 0ŝk drives particle k in a fixed circle of radius |ω 0 | −1 . Consider the change of variablesγ k =γ k − Ωt, which impliesγ…”

Section: Iiic Time-splay Formation With a Rotating Flowfieldmentioning

confidence: 99%

“…Some existing algorithms support operations in spatially uniform flowfields. 16,17 However, the authors are not aware of any existing theoretically justified motion-coordination algorithms for spatially and temporally varying flowfields. This problem is partially addressed here by providing decentralized control algorithms for motion coordination in a moderate, timevarying flowfield (i.e., between 10% and 99% of platform speed).…”

Section: Introductionmentioning

confidence: 99%

Multi-Vehicle Coordination in an Unknown Flowfield

Peterson

Paley

2010

AIAA Guidance, Navigation, and Control Conference

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Cooperative control of autonomous vehicles is a robust approach for many spatiotemporal applications, including area surveillance, target tracking and environmental sampling. Prior research has generated stable control algorithms that promote collaboration of autonomous vehicles. A persistent difficulty in creating control algorithms is accounting for effects due to flowfields such as winds or tides. In this paper we propose decentralized control algorithms that stabilize a group of autonomous vehicles to a circular formation in either an unknown, spatially uniform flowfield or an unknown, spatially uniform flowfield whose direction rotates uniformly in time. The center of the formation can be prescribed or arbitrary. Prescribing the center formation allows us to apply these algorithms to a targettracking problem. We also show how a bounded turning-rate constraint, which is present in many autonomous vehicles, can be incorporated into control algorithms for a known flowfield. The theoretical results are supported by application examples that illustrate multiple vehicles tracking an accelerating target in a circular formation.

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Micro UAV Path Planning for Reconnaissance in Wind

Cited by 78 publications

References 10 publications

Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles

Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles

Disturbance Observer Based Control with Anti-Windup Applied to a Small Fixed Wing UAV for Disturbance Rejection

Multi-Vehicle Coordination in an Unknown Flowfield

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