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A two step path planning algorithm with collision detection logic for small UAS is proposed. The path planning approach taken in this work is carried out in two steps. In the first step, an initial suboptimal path is generated using A∗ search. In the second step, a chain of unit masses connected by springs and dampers evolves in a simulated force field, using the A∗ solution as an initial condition...
This paper presents a framework that integrates vector field based motion planning techniques with an optimal path planner. The main motivation for this integration is the solution of UAVs' motion planning problems that are easily and intuitively solved using vector fields, but are very difficult to be even posed as optimal motion planning problems, mainly due to the lack of clear cost functions....
While collision avoidance and flight stability are generally a micro air vehicle's (MAVs) highest priority, many map-based path planning algorithms focus on path optimality, often assuming a static, known environment. For many MAV applications a robust navigation solution requires responding quickly to obstacles in dynamic, tight environments with non-negligible disturbances. This article first outlines...
This paper presents a novel obstacle avoidance scheme for UAVs. This scheme is based on the use of a technique recently developed by one of the authors, which is based on a transformation of a variable constraint into an input saturation. In the case of obstacle avoidance, this saturation is designed so as to ensure a safe trajectory around the obstacles, offering a proof of this desired behavior...
This paper introduces the reasoning and concepts behind a generic and modular approach to obstacle avoidance based on geofencing. The issue of UAV safety is tackled from a practical point of view and a collision avoidance system based on practical usage and safety considerations is presented. Before doing so, the need for a reference model of geographic geometry is discussed, looking at global positioning...
This paper presents an Unmanned Aerial System (UAS) for precision forestry applications. The UAS is capable of performing fully autonomous flights under the canopies of an unknown plantation forest by avoiding obstacles without the use of GPS navigation. The navigation framework of this system consists of a velocity estimator and an obstacle avoidance controller. In particular, the velocity estimator...
This paper presents the combination of Potential Flow Field (PFF) and Virtual Force Field (VFF) methods to construct a viable means for UAS's to autonomously navigate and avoid collisions with obstacles. A validated flight dynamics model of a fixed-wing UAS was integrated with a heading hold autopilot that receives commanded heading angles from the selected output of the PFF and VFF methods. PFF primarily...
Autonomous ships require a sense-and-collision-avoidance functionality based on surveillance of the ocean surface in order to detect unmapped and potentially non-cooperative obstacles and hazards, and to engage into evasive manoeuvres to avoid impending collisions. In this paper, we study the concept of using an autonomous ship being assisted by an unmanned aerial surveillance system (UASS) that provides...
(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans' cognitive abilities with fast automation is the key for such missions. This paper presents a flight control system architecture based on the instantaneous Task Specification using Constraints (iTaSC) methodology...
This paper presents the development of a 3D obstacle avoidance algorithm for Unmanned Aerial Vehicle (UAV) system. The avoidance algorithm works by generating avoiding waypoints, within the original predefined waypoints, when the vehicle faces obstacles obstructing its flightpath. The proposed approach bases its algorithm on the utilization of ellipsoid geometry for defining a restricted zone containing...
An algorithm was developed for the formation flight of a team of fixed-wing aircraft to follow a desired trajectory described in terms of given waypoints. In-flight formation change can be commanded at set points along the trajectory or on demand. The algorithm makes use of the Hungarian algorithm for formation position assignment in a local tangent coordinate system. Trajectories of the aircraft...
A system of networked computer components is described allowing realistic simulation and performance assessment of see-and-avoid algorithms for unmanned aircraft systems (UAS). Due to its realistic physics engine and relatively open architecture, the X-Plane flight simulator is adopted to simulate computer-generated traffic or an aircraft controlled by a human pilot. Using the UDP interface in X-Plane,...
A unified approach to cooperative and non-cooperative Sense-and-Avoid (SAA) is presented that addresses the technical and regulatory challenges of Unmanned Aircraft Systems (UAS) integration into non-segregated airspace. In this paper, state-of-the-art sensor/system technologies for cooperative and non-cooperative SAA are reviewed and a reference system architecture is presented. Automated selection...
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