Fusion of Optimal Control and Agent Based Reasoning for Unmanned Aerial Vehicles

2005 ◽  
Author(s):  
Galen Brambley ◽  
Michael Matkovic
Keyword(s):  
Optimal Control ◽  
Unmanned Aerial Vehicles ◽  
Agent Based ◽  
Aerial Vehicles

Periodic Control of Unmanned Aerial Vehicles Based on Differential Flatness

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Oladapo Ogunbodede ◽  
Souransu Nandi ◽  
Tarunraj Singh
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Unmanned Aerial Vehicles ◽  
Differential Flatness ◽  
Marine Animals ◽  
Periodic Control ◽  
Aerial Vehicles ◽  
Locomotory Behavior ◽  
Long Endurance

Unmanned aerial vehicles (UAVs) are making increasingly long flights today with significantly longer mission times. This requires the UAVs to have long endurance as well as have long range capabilities. Motivated by locomotory patterns in birds and marine animals which demonstrate a powered-coasting-powered periodic locomotory behavior, an optimal control problem is formulated to study UAV trajectory planning. The concept of differential flatness is used to reformulate the optimal control problem as a nonlinear programing problem where the flat outputs are parameterized using Fourier series. The Π test is also used to verify the existence of a periodic solution which outperforms the steady-state motion. An example of an Aerosonde UAV is used to illustrate the improvement in endurance and range costs of the periodic control solutions relative to the equilibrium flight.

Trajectory planning with mid-air collision avoidance for quadrotor unmanned aerial vehicles

2021 ◽  
pp. 095441002110440
Author(s):  
Yuhang Jiang ◽  
Shiqiang Hu ◽  
Christopher J Damaren
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Trajectory Planning ◽  
Pseudospectral Method ◽  
Planning Problem ◽  
Aerial Vehicles ◽  
Optimal Control Algorithms

Flight collision between unmanned aerial vehicles (UAVs) in mid-air poses a potential risk to flight safety in low-altitude airspace. This article transforms the problem of collision avoidance between quadrotor UAVs into a trajectory-planning problem using optimal control algorithms, therefore achieving both robustness and efficiency. Specifically, the pseudospectral method is introduced to solve the raised optimal control problem, while the generated optimal trajectory is precisely followed by a feedback controller. It is worth noting that the contributions of this article also include the introduction of the normalized relative coordinate, so that UAVs can obtain collision-free trajectories more conveniently in real time. The collision-free trajectories for a classical scenario of collision avoidance between two UAVs are given in the simulation part by both solving the optimal control problem and querying the prior results. The scalability of the proposed method is also verified in the simulation part by solving a collision avoidance problem among multiple UAVs.

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