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Micro aerial vehicles, such as multirotors, are particularly well suited for autonomous monitoring, inspection, and surveillance, e.g., for doing inventory in large warehouses. Key prerequisites for efficient MAV inventory missions is time- and energy-efficient flight. Generated trajectories must assure the visiting of certain waypoints while preventing large deviations or overshoot, as these can...
There is strong interest in Micro Aerial Vehicle (MAV) control architectures which are able to systematically respect physical limitations of the plant. Nonlinear Model Predictive Control (NMPC) inherits the required constraint handling abilities and is easy to reconfigure in case of plant degradation. This work presents a promising cascaded control architecture for multirotors for the task to follow...
Two missile guidance laws viz. Pursuit Guidance (PG) and Trajectory Shaping (TS), have been adopted to aggressively follow curved, compact trajectories using a quadrotor. The concept of virtual target navigation has been utilized to generate the required curved trajectories. Simulations and flight tests have been performed using a quadrotor and the performance characteristics obtained have been compared...
This paper concerns a distributed control approach of a fleet of Unmanned Aerial Vehicles (UAVs) based on a Leaderless strategy. The independent distributed particle swarm Optimization algorithms are used to develop this approach. The goal is to get a set of UAVs to fly on a 2D plane while converging to a predefined spatial configuration around a rendezvous point. The developed method would be applied...
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...
A simple strategy to saturate the reference velocities when guiding an Unmanned Aerial Vehicle (UAV) to accomplish trajectory-tracking tasks is proposed. Such a controller has two parts: a kinematic controller to generate reference velocities for the vehicle and a state-variables change with a PD controller to guarantee the tracking of such velocities. This characterizes a cascade controller and guarantees...
In this paper we propose a model of zero-sum differential games (ZSG) to perform the formation flight of a group of three fixed-wing Unmanned Aerial Vehicles (UAVs). The dynamics of these UAVs are described in the linearized model around nominal values. For the formation strategy, the game scheme for one of the UAVs acts as the leader vehicle following a freely designed trajectory meanwhile the two...
A mission restoration control system in an integrated automatic flight controller for aircraft Loss-of-Control Prevention and Recovery is presented, in which the two-phase Loss-of-Control recovery includes a LOC arrest mode and a mission restoration mode. For a trajectory tracking mission, a complete mission restoration mode is achieved by i) a close-in sub-mode of guiding the vehicle to catch up...
An optimal design method for generating a flight path passing through specified waypoints while satisfying the task points sent by the ground operators is proposed in this paper. Each specified waypoint is reached exactly at the specified location and time while intermediate waypoints are generated in such a way that they satisfy the task points, with highest benefit measure, i.e., satisfying tasks...
This paper investigates forest monitoring and fire detection strategies using a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). UAVs have great advantages in forest fire detection and fighting. However they have limited running time and payload capabilities, therefore UGVs are paired with UAVs to avoid their demerits. First, UGVs are used to transport the UAVs to the nearest...
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