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Unmanned Air Vehicles (UAVs), which have been popular in the military context, have recently attracted attention of many researchers because of their potential civilian applications. However, before UAVs can fly in civilian airspace, they need to be able to navigate safely to its goal while maintaining separation with other manned and unmanned aircraft during the transit. Algorithms for autonomous...
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...
This paper presents a novel method for wind characterization and mapping by using an Unmanned Aircraft System (UAS). The generation of a wind map is vital in energy-efficient trajectory planning of efficient trajectories and dynamic soaring applications to detect the shear layer. Firstly, two methods to estimate the parameters that define an unknown wind field (wind speed and direction) by using a...
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...
An Unmanned aerial vehicle (UAV) guidance law is addressed as an optimal regulator (LQR) problem. An adaptive optimal path following nomenclature is derived and defined. The state weighting matrix of the LQR is defined in term of intrinsic parameter error thereby enabling the guidance law to regulate the UAV disturbance errors effectively. The state weighing matrix is tuned using a genetic algorithm...
In this paper a scalable and flexible Architecture for real-time mission planning and dynamic agent-to-task assignment for a swarm of Unmanned Aerial Vehicles (UAV) is presented. The proposed mission planning architecture consists of a Global Mission Planner (GMP) which is responsible of assigning and monitoring different high-level missions through an Agent Mission Planner (AMP), which is in charge...
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...
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...
Our objective is to design a consensus based control law for a multi-agent system to track a desired trajectory in the presence of a constant input delay. The agents of the multi-agent system are modeled as double integrator. The communication topology is represented by a fixed and weakly connected digraph. The controller works in conjugation with an estimator to help the agents track the desired...
This paper addresses the problem of enabling Unmanned Aircraft Systems (UAS) to avoid mid-air collisions during path planning applications. We propose an improved strategy that allows the UAS to negotiate obstacles encountered during flight, while keeping the objective of finding a feasible path towards its destination. Our method computes multiple steps along the UAS's path based on GPS coordinates,...
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 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...
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...
Ship-based Unmanned Aerial Vehicle (UAV) operations represent an important field of research which enables a large variety of mission types. Most of these operations demand a high level of endurance which normally requires the use of a fixed-wing UAV. Traditionally, a net located on the ship deck is used for recovering the fixed-wing UAV. However, there are numerous challenges when attempting autonomous...
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...
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...
The paper presents a tube based Model Predictive Control (MPC) strategy for robust tracking control of PVTOL aircraft. PVTOL system is considered as a benchmark for investigating dynamics and control related issues for unmanned aerial vehicles (UAVs). Due to non-linear dynamics and under actuated nature of this system, the task of building control algorithm for such systems becomes challenging. Here,...
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