Hostname: page-component-586b7cd67f-rdxmf Total loading time: 0 Render date: 2024-11-25T07:53:19.295Z Has data issue: false hasContentIssue false

Waypoint Navigation of Small-Scale UAV incorporating Dynamic Soaring

Published online by Cambridge University Press:  26 November 2010

O. K. Ariff*
Affiliation:
(Nanyang Technological University, Singapore)
T. H. Go
Affiliation:
(Nanyang Technological University, Singapore)
*

Abstract

The latest attempts at improving small scale autonomously guided Uninhabited Aerial Vehicles (UAVs) have concentrated around the increase of range and speed. One of these ways is to incorporate dynamic slope soaring manoeuvres as part of the flight path. This is in contrast to most conventional path-planning algorithms where waypoint guidance is merged with terrain avoidance or contour following capability. Additionally, current trajectory optimization techniques are iterative and so have a considerable computational load. The proposed algorithm is based on Dubin's curves, and is therefore optimal by definition. Being non-iterative, it is comparatively a more efficient algorithm. Hence, a key advantage of the proposed technique is that the desired trajectory is generated quickly in real time with minimum computational load while satisfying the spatial constraints of dynamic slope soaring.

Type
Research Article
Copyright
Copyright © The Royal Institute of Navigation 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

Akram, M. Imran, Pasha, Ahmed and Iqbal, Nabeel (2005) Optimal Path Planner for Autonomous Vehicles World Academy of Science, engineering and Technology 3Google Scholar
Allen, M. J., and Lin, V., (2007) Guidance and control of an autonomous soaring vehicle with flight test results 45th AIAA Aerospace Sciences Meeting and Exhibit 8 - 11 January 2007, Reno, Nevada AIAA 2007-867CrossRefGoogle Scholar
Allen, M. J., (2006) Updraft model for the development of Autonomous soaring Uninhabited Air Vehicles” 44th AIAA Aerospace Sciences Meeting and Exhibit, 9 - 12 January 2006, Reno, Nevada. AIAA 2006-1510Google Scholar
Hattenberger, G., Alami, R. and Lacroix, S. (2006) Planning and control for unmanned air vehicle formation flight” Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems October 9 - 15, 2006, Beijing, ChinaCrossRefGoogle Scholar
Langelaan, J. W. and Bramesfeld, G., (2008) Gust energy extraction for mini- and micro-Uninhabited aerial vehicles 46th AIAA Aerospace Sciences Meeting and Exhibit 7 - 10 January, Reno, Nevada AIAA 2008-223CrossRefGoogle Scholar
Langelaan, J. W., (2007) Long distance/duration trajectory optimization for small UAVs AIAA Guidance Navigation and Control Conference and Exhibit 20 - 23 August Reno, Nevada AIAA 2007-67CrossRefGoogle Scholar
Chitsaz, H. and LaValle, S. M., (2007) Time optimal paths for Dubin's Airplane 46 thIEEE Conference on Decision and Control, 12–14 Dec, New OrleansCrossRefGoogle Scholar
Shanmugavel, M., Tsourdos, A., Z˙bikowski, R. and White, B. A. (2005) Path planning of multiple UAVs using Dubins sets” AIAA Guidance, Navigation, and Control Conference and Exhibit 15 - 18 August 2005, San Francisco, California AIAA 2005-5827CrossRefGoogle Scholar
Shanmugavel, M., Tsourdos, A., White, B., Z˙bikowski, R. (2009) Co-operative path planning of multiple UAVs using Dubins paths with clothoid arcs “Control Engineering Practice, in Press 2009.02.010Google Scholar
Kyle, J., Evans, K., Costello, M. (2005) “Atmospheric wind energy extraction by a small autonomous glider” AIAA Atmospheric Flight Mechanics Conference and Exhibit 15 - 18 August 2005, San Francisco, California AIAA 2005-6233CrossRefGoogle Scholar
Lawrence, Nicholas R. J., and Sukkarieh, Salah (2009) A guidance and control strategy for dynamic soaring with a gliding UAV IEEE International Conference on Robotics and Automation May 12 - 17 Kobe, JapanCrossRefGoogle Scholar
Yang, Guang, and Kapila, Vikram, (2002) Optimal path planning for Unmanned Air Vehicles with Kinematic and Tactical Constraints Proceedings of the 41 stIEEE Conference on Decision and Control, Las Vegas, Nevada WeA04-6Google Scholar
Zhao, Yiyuan. J. and Celia Qi, Ying (2004) Minimum fuel powered dynamic soaring of unmanned aerial vehicles utilizing wind gradients Optimal Control Application and Methods 2004 Volume 25, Issue 5 pp 211-233 Wiley InterScienceCrossRefGoogle Scholar
Wharington, John M. (2004) Heuristic control of dynamic soaring 5th Asian Control Conference 2004 Kinetic100 http://www.dskinetic.com/k100.aspxGoogle Scholar