Feedback Equivalence Between Curve & Straight Line Tracking for Unmanned Aerial Vehicles

2018 ◽  
Author(s):  
George P. Moustris ◽  
Panagiotis Kyriakis ◽  
Costas S. Tzafestas
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Feedback Equivalence ◽  
Aerial Vehicles ◽  
Straight Line ◽  
Line Tracking

Three-dimensional waypoint following for fixed-wing unmanned aerial vehicles in obstacle-filled environments

2019 ◽  
Vol 234 (3) ◽  
pp. 640-654
Author(s):  
Nikhil Kumar Singh ◽  
Sikha Hota
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Optimal Path ◽  
Three Dimensional ◽  
Computation Time ◽  
Two Dimensional ◽  
Aerial Vehicles ◽  
Optimal Paths ◽  
Straight Line ◽  
Different Types ◽  
Simulation Results

The paper computes optimal paths for fixed-wing unmanned aerial vehicles with bounded turn radii to follow a series of waypoints with specified directions in a three-dimensional obstacle-filled environment. In the existing literature, it was proved that the optimal path is of circular turn–straight line–circular turn (CSC) type for two consecutive waypoint configurations, when the points are sufficiently far apart and there is no obstacle in the field. The maximum of all minimum turn radii corresponding to all possible two-dimensional circular maneuvers was used for both the initial and final turns to develop the CSC-type paths. But, this paper considers the minimum turn radii for initial and final turns, corresponding to the maneuvering planes and which produces shorter CSC-type paths. In an obstacle-filled environment the shortest path may collide with obstacles, so a strategy is proposed to switch to the next best path that does not collide with obstacles. Using this technique, a series of waypoints is followed in the presence of obstacles of different types, for example, cylindrical, hemispherical, and spherical in shapes with different sizes. Finally, simulation results are presented to show the efficiency of the algorithm for obstacle avoidance. The computation time listed here indicates the potentiality of this algorithm for implementation in real time.

scholarly journals THE DUBINS TRAVELING SALESMAN PROBLEM WITH CONSTRAINED COLLECTING MANEUVERS

2016 ◽  
Vol 6 ◽  
pp. 34
Author(s):  
Petr Váňa ◽  
Jan Faigl
Keyword(s):  
Data Collection ◽  
Unmanned Aerial Vehicles ◽  
Traveling Salesman Problem ◽  
Problem Formulation ◽  
Traveling Salesman ◽  
Line Segments ◽  
Aerial Vehicles ◽  
Straight Line ◽  
Dubins Traveling Salesman Problem

In this paper, we introduce a variant of the Dubins traveling salesman problem (DTSP) that is called the Dubins traveling salesman problem with constrained collecting maneuvers (DTSP-CM). In contrast to the ordinary formulation of the DTSP, in the proposed DTSP-CM, the vehicle is requested to visit each target by specified collecting maneuver to accomplish the mission. The proposed problem formulation is motivated by scenarios with unmanned aerial vehicles where particular maneuvers are necessary for accomplishing the mission, such as object dropping or data collection with sensor sensitive to changes in vehicle heading. We consider existing methods for the DTSP and propose its modifications to use these methods to address a variant of the introduced DTSP-CM, where the collecting maneuvers are constrained to straight line segments.

scholarly journals Path Following and Obstacle Avoidance for Unmanned Aerial Vehicles Using a Virtual-Force-Based Guidance Law

2021 ◽  
Vol 11 (10) ◽  
pp. 4618
Author(s):  
Xun Wang ◽  
Libing Cai ◽  
Longxing Kong ◽  
Binfeng Wang ◽  
Shaohua Huang ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Path Following ◽  
Repulsive Force ◽  
Mass System ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Virtual Force ◽  
Straight Line ◽  
Spring Force

This paper presents a virtual-force-based guidance law (VFGL) for path following and obstacle avoidance in unmanned aerial vehicles. First, a virtual spring force and a virtual drag force are designed for straight-line following; then, the dynamic of the cross-track-error is equivalent to a spring mass system, which is easy to tune to acquire stability and non-overshoot convergence. Secondly, an additional virtual centripetal force is designed to counteract the influence of the curvature of the planned path so that the guidance law can accurately track a curve with a time-varying curvature. Thirdly, an extra virtual repulsive force is designed directly according to the sensor inputs; the virtual repulsive force pushes the vehicle away to move around obstacles. The use of artificial physics means the guidance law is founded on solid physical theory and is computationally simple. The physical meanings of the parameters are definite, and the VFGL has a large parameter adaptation. These make the guidance law easy to tune in application. Both the numerical and hardware-in-the-loop simulation results demonstrated the effectiveness of the proposed guidance law for path following and obstacle avoidance in unmanned aerial vehicles.

Development of thickened semi-synthetic engine oil M-5z / 20 AERO for four-stroke gasoline engines aircraft piston of unmanned aerial vehicles (UAVs)

2020 ◽  
Vol 06 ◽  
pp. 44-47
Author(s):  
A.A. Moykin ◽  
◽  
A.S. Medzhibovsky ◽  
S.A. Kriushin ◽  
M.V. Seleznev ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Engine Oil ◽  
Motor Oil ◽  
Gasoline Engines ◽  
State Research Institute ◽  
Technical Requirements ◽  
Aerial Vehicles ◽  
State Research ◽  
Industrial Batch ◽  
The Russian Federation

Nowadays, the creation of remotely-piloted aerial vehicles for various purposes is regarded as one of the most relevant and promising trends of aircraft development. FAU "25 State Research Institute of Chemmotology of the Ministry of Defense of the Russian Federation" have studied the operation features of aircraft piston engines and developed technical requirements for motor oil for piston four-stroke UAV engines, as well as a new engine oil M-5z/20 AERO in cooperation with NPP KVALITET, LLC. Based on the complex of qualification tests, the stated operational properties of the experimental-industrial batch of M-5z/20 AERO oil are generally confirmed.

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