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We present a two step path planning algorithm for unmanned aerial vehicles (UAVs) with kinematic constraints in the presence of polygonal obstacles. We use a visibility graph representation for the environment and a Dubins vehicle approximation to model UAV kinematics. A modified Dijkstra's shortest path algorithm is developed as first step of our approach to plan paths for a UAV. The algorithm in...
This article addresses an important path planning problem for robots and Unmanned Aerial Vehicles (UAVs) which aims to find a shortest path of bounded curvature passing through a given sequence of target points on a ground plane. Currently, there is no algorithm that can compute an optimal solution to this problem. Therefore, tight lower bounds are vital in determining the quality of any feasible...
This paper considers the problem of convoy protection missions using a fixed-wing Unmanned Aerial Vehicle (UAV) in scenarios where the radius of the circular region of interest around the convoy is smaller than the UAV minimum turning radius. Using the Moving Path Following (MPF) method, we propose a guidance algorithmic strategy where a UAV moving at constant ground speed is required to converge...
The present paper is focused on analysing an integrated reconfigurable control and guidance approach for recovering a small fixed-wing UAV from different actuator faults, which cover locked in place (stuck) and loss of effectiveness. The model of the UAV Aerosonde is used to develop a reconfigurable control system based on the control allocation technique for a variety of faults, such as locked-in-place...
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