Optimal path of a UAV engaged in wind-influenced circular towing

Merz, Mariann; Johansen, Tor Arne

doi:10.1109/red-uas.2017.8101638

Cited by 5 publications

(3 citation statements)

References 14 publications

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“…However, as can be seen in Figure 10 for each one of the main application scopes, a different propulsion method was most often used. There are, however, exceptions to this statement; for instance, the load transportation scope was dominated by the usage of multirotor tUAVs, but some publications explored the application of fixed-wing aircraft [22,[34][35][36] and even helicopters [26] as a viable solution.…”

Section: Discussionmentioning

confidence: 99%

Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.

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Section: Discussionmentioning

confidence: 99%

Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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“…In Ref. [20], the authors found that the optimal vertical path in steady winds can be approximated using a cosine function:…”

Section: Path Control Strategy To Reduce Vertical Oscillations In Windsmentioning

confidence: 99%

Control of an End Body Towed by a Circling Unmanned Aerial Vehicle

Merz

Johansen

2019

Journal of Guidance, Control, and Dynamics

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“…In order to have optimal path planning and UAV range estimates, it is necessary to have air data information [10,24]. In addition, having air data knowledge, can open up for more complex maneuvers such as high precision deep-stall landings [20], precision object delivery [19,21], or for detecting critical performance degradation caused by ice accretion on the UAV due to atmospheric icing conditions [32].…”

Section: Introductionmentioning

confidence: 99%

Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV

Borup

Stovner

Fossen

et al. 2020

IEEE Trans. Contr. Syst. Technol.

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This paper presents two Kalman filter approaches for correcting air data systems providing relative velocity measurements with an additive constant or slowly time-varying bias for fixed-wing unmanned aerial vehicles (UAVs). In addition to the air data system, both estimators rely on a standard sensor suite consisting of a GNSS receiver, an IMU, and a heading reference. Furthermore, the estimators are based on kinematics and do not require a model of the UAV. The two estimators are in the noise-free case proven to have globally exponentially stable (GES) equilibrium points of the error dynamics if provided with persistence-of-excitation (PE) of the angular velocity of the UAV. The estimators are verified through simulation and using experimental flight data. The relative velocity measurements in the experimental flight results are provided by an array of pressure sensors embedded in the surface of the UAV combined with a neural network algorithm. The results indicate that a certain amount of PE is needed in order to have converging bias estimates for turbulent wind conditions.

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Optimal path of a UAV engaged in wind-influenced circular towing

Cited by 5 publications

References 14 publications

Tethered Unmanned Aerial Vehicles—A Systematic Review

Tethered Unmanned Aerial Vehicles—A Systematic Review

Control of an End Body Towed by a Circling Unmanned Aerial Vehicle

Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV

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