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In this paper we propose a novel approach for trajectory optimization for constrained Unmanned Aerial Vehicles (UAVs). With regard to the classical trajectory optimization problem, we take a Virtual Target Vehicle (VTV) perspective by introducing a virtual target that plays the role of an additional control input. Based on a nonlinear projection operator optimal control technique and extending the...
The design and development of an autonomous camera platform for skydiving is presented. The device was designed to be compact, lightweight, and aerodynamically stable. Behavior of the device under a nominal wind speed at varying angles of attack, was obtained through Computational Fluid Dynamics analysis (CFD). A prototype was constructed for the purpose of verifying the CFD and simulation models...
Fixed wing Unmanned Aerial Vehicles (UAVs) are an increasingly common sensing platform, owing to their key advantages: speed, endurance and ability to explore remote areas. While these platforms are highly efficient, they cannot easily be equipped with air data sensors commonly found on their larger scale manned counterparts. Indeed, such sensors are bulky, expensive and severely reduce the payload...
Among the main sub-areas covering the cooperative control problem of Unmanned Aerial Vehicles (UAVs), formation flight has attracted great interest and has been widely investigated. The main purpose of the formation flight control is to establish a desired shape of formation for a group of vehicles by controlling the positions of each vehicle. The present paper deals with the problem of position formation...
We propose the structured two-loop flight control system of a novel tandem ducted fan vehicle for near hover flight in consideration of actuator saturations on its dynamics. The prescribed controller architecture consists of static output feedback inner loop and four PI outer loop, which is a desirable and intuitive structure for practical implementation. The effect of a limited control activity on...
The work presented in this paper is part of the autonomous planning architecture of a team of aerial robots equipped with on-board robotic arms. The mission of the team is the construction of structures in places where the access is difficult by conventional means, which is the scenario considered in the framework of the ARCAS European Project. This paper presents three automatic planners in this...
This paper presents the design, performance analysis and aerodynamic improvement of a designed medium range tactical unmanned aerial vehicle. Main requirements are set as following; cruising altitute above 3500m, endurance of approximately 10–12 hours, range of 150 km and payload of 60 kg. The conventional design phase is based on the employment of historical equations and experiences. The aerodynamic...
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