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This paper proposes a bidirectional spline-RRT∗ path planning algorithm for fixed-wing unmanned aerial vehicles (UAVs). The proposed algorithm combines the basic RRT∗ algorithm with the spline method to produce smooth paths, which are essential for fixed-wing UAVs. The proposed bidirectional spline-RRT∗ algorithm generates paths satisfying approach direction constraints on both start and goal points,...
In this paper, Aircraft Dynamics Model (ADM) augmentation for Remotely Piloted Aircraft System (RPAS) navigation and guidance is presented. This approach provides additional information suitable to compensate for the shortcomings of vision based navigation sensors and Micro-Electromechanical System Inertial Measurement Unit (MEMS-IMU) sensors for attitude determination tasks. The ADM virtual sensor...
This paper addresses the problem of navigating an Unmanned Aerial Vehicle in an environment where GPS quality is degraded or lost. A method is described to return the aircraft from the GPS-degraded region to its launch point by means of visual navigation techniques. We record a string of overlapping images, or keyframes, on the outbound flight. On the return journey, a control law based on the homography...
In this paper, the system requirements for the integration of Remotely Piloted Aircraft Systems (RPAS) in controlled airspace regions are discussed. The specificities in terms of Air Traffic Management (ATM) level of service, jurisdiction for deconfliction duties and prevalent traffic characteristics are analysed to support the identification of operational and equipage requirements for RPAS developers...
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