Waypoint-Based Fuzzy Guidance for Unmanned Aircraft a New Approach

Pollini, Lorenzo; Baralli, Francesco; Innocenti, Mario

doi:10.2514/6.2002-4993

Cited by 11 publications

(7 citation statements)

References 2 publications

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“…15,16 In order to design the highly constrained entry trajectory, Xie et al 17 introduced drag-energy profile and bank angle reversal logic through line-ofsight(LOS) angle and the variation in longitudinal and lateral direction respectively based on evolved acceleration guidance logic. In addition, many researchers focused on the trajectory generation approaches for unmanned air vehicles (UAVs) considering waypoints and no-fly zones, [18][19][20] however, which may be unusable because of the low velocity.…”

Section: Introductionmentioning

confidence: 99%

Highly constrained optimal gliding guidance

Zhu

Liu

Tang

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part G:

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A novel highly constrained optimal gliding guidance algorithm, which can satisfy multiple path and terminal constraints in the presence of no-fly zones for hypersonic vehicle, is investigated in this paper. It employs line-of-sight angle to describe the relative location relationship between flight path and no-fly zones, and proposes boundaries selection algorithm for each no-fly zone, which is called avoidance strategy, with minimum energy consumption. The boundaries determined by avoidance strategy divide the flight process and guidance task into several stages. In each stage, it constructs guidance models based on quasi-equilibrium glide condition in longitudinal and lateral directions respectively, and employs optimal control to generate guidance law to satisfy terminal location, altitude, and flight path angle constraints. In addition, all the path constraints, including heating rate, dynamic pressure, and overload, are converted into the angle-of-attack constraint to ensure the guidance mission can be accomplished successfully. This algorithm is independent of standard trajectory, and all the guidance commands, including the bank angle and the angle of attack, can be calculated analytically in real time and adaptively. Finally, the simulation results of CAV-H indicate that the proposed strategy can guide the vehicle to satisfy multiple different constraints with high precision and avoid no-fly zones effectively.

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Section: Introductionmentioning

confidence: 99%

Highly constrained optimal gliding guidance

Zhu

Liu

Tang

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Waypoint fuzzy guidance scheme is discussed in [29], it is based on the three standard Takagi-Sugeno fuzzy controllers. The three controllers generate velocity, heading, and flight path angle references for the autopilots; simulation results are presented to show the efficacy of the scheme.…”

Section: Introductionmentioning

confidence: 99%

Guidance of Air Vehicles: A Sliding Mode Approach

Shah

Samar

Bhatti

2015

IEEE Trans. Contr. Syst. Technol.

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This paper presents a novel nonlinear guidance scheme for ground track control of aerial vehicles. The proposed guidance logic is derived using the sliding mode control technique, and is particularly suited for unmanned aerial vehicle (UAV) applications. The main objective of the guidance algorithm is to control the lateral track error of the vehicle during flight, and to keep it as small as possible. This is achieved by banking the vehicle, that is, by executing roll maneuvers. The guidance scheme must perform well both for small and large lateral track errors, without saturating the roll angle of the vehicle, which serves as the control input for the guidance algorithm. The limitations of a linear sliding surface for lateral guidance are indicated; a nonlinear sliding surface is thereafter proposed which overcomes these limitations, and also meets the criterion of a good helmsman. Stability of the nonlinear surface is proved using Lyapunov theory; control boundedness is also proved to ensure that the controls are not saturated even for large track errors. The proposed guidance law is implemented on the flight control computer of a scaled YAK-54 UAV and flight results for different scenarios (consisting of both small and large errors) are presented and discussed. The flight test results confirm the effectiveness and robustness of the proposed guidance scheme.Index Terms-Control boundedness, guidance and control of unmanned aerial vehicles (UAVs), lateral guidance, sliding mode control (SMC), track control, UAVs. 1063-6536

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“…Several methods can be used to design a nominal trajectory. Often, the current methods first use pre-defined waypoints (WPs) which are set according to the mission (Anderson et al, 2005;Baralli et al, 2002;Chandler et al, 2000;Gu et al, 2004;Jorris and Cobb, 2008;Judd and McLain, 2001;Moon and Kim, 2003). A WP describes a configuration in the flight environment so that UAV is necessitated to meet it.…”

Section: Introductionmentioning

confidence: 99%

“…A WP describes a configuration in the flight environment so that UAV is necessitated to meet it. The UAVs mission may be specified for reconnaissance goals or implementation of some tasks (Baralli et al, 2002;Jorris and Cobb, 2008), threat avoidance (Chandler et al, 2000;Gu et al, 2004;Judd and McLain, 2001), or obstacle avoidance (Corbets and Langelaan, 2007;Frazzoli et al, 2002;Nikolos et al, 2003;Zhang et al, 2005). Second, the path is further refined to make it flyable by using the curved trajectory (Anderson et al, 2005;Chandler et al, 2000;Coté, 2002;Jorris and Cobb, 2008;Judd and McLain, 2001;Moon and Kim, 2003;Shanmugavel et al, 2007Shanmugavel et al, , 2006Shanmugavel et al, , 2005.…”

Section: Introductionmentioning

confidence: 99%

Fast trajectory planning based on in‐flight waypoints for unmanned aerial vehicles

Babaei

Mortazavi

2010

Aircraft Engineering and Aerospace Technology

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Purpose -The purpose of this paper is to propose an efficient algorithm for trajectory planning of unmanned aerial vehicles (UAVs) in 2D spaces. This paper has been motivated by the challenge to develop a fast trajectory planning algorithm for autonomous UAVs through mid-course waypoints (WPs). It is assumed that there is no prior knowledge of these WPs, and their configuration is computed as in-flight procedure. Design/methodology/approach -Since the off-line techniques cannot be applied, it is required to apply an online trajectory planning algorithm. For this reason, based on the optimal control and the geometry, each segment of trajectory is designed with respect to a local frame. The algorithm is implemented as a real-time manner in terms of the down-range variable. Findings -The proposed algorithm tries to find not only a feasible trajectory (the constraint includes the maximum heading angle rate) but also an optimal trajectory (the objective locally is to minimize the length of the path). This online trajectory planning algorithm gradually produces a smooth 2D trajectory aiming at reaching the mid-course WPs and the final target so that they are smoothly connected with each other. The mid-course WPs are described through the given down-range, cross-range, and heading angle. Originality/value -Based on geometrical principles, this algorithm is capable of re-planning the trajectory as in-flight manner, and the computational burden approaches the online capabilities for UAVs with high velocity.

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Waypoint-Based Fuzzy Guidance for Unmanned Aircraft a New Approach

Cited by 11 publications

References 2 publications

Highly constrained optimal gliding guidance

Highly constrained optimal gliding guidance

Guidance of Air Vehicles: A Sliding Mode Approach

Fast trajectory planning based on in‐flight waypoints for unmanned aerial vehicles

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