Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results

Yakovlev, Konstantin; Andreychuk, Anton; Belinskaya, Yulia; Макаров, Д. И.

doi:10.48550/arxiv.1906.06911

Cited by 1 publication

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These factors include the mission of the robot or group of robots; configuration and features of the workspace; obstacles; sensing capabilities and design limitations of the robot that determine its maneuverability; safety requirements, etc. A combination of different planning methods typically provides the best performance [6][7][8][9]. However, more accurate and optimal solutions, that consider many factors require constant correction during robot operation and are often accompanied by cumbersome geometric calculations and high computational costs.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

2023

View full text Add to dashboard Cite

For an unmanned aerial vehicle (UAV) of an aircraft type, the problems of planning achievable trajectories as well as robust control under wind disturbances are considered. A computationally simple method for compiling a primary non-smooth 4D trajectory is proposed. Its segments connect the given waypoints and determine the desired average velocity in various sections. Instead of time-consuming methods of analytical smoothing of broken path joints using polynomials, a tracking differentiator with S-shaped smooth and limited sigmoid corrective actions is developed. This virtual dynamic model provides natural smoothing of the primary trajectory considering the design constraints on the velocity, acceleration, and thrust of the UAV. The tracking differentiator variables create an achievable trajectory and are used to synthesize the UAV tracking system. To compensate for the action of wind disturbances on the UAV, a disturbance observer is developed. It is a replica of the equations of the control plant model, which are directly affected by external uncontrolled disturbances. These algorithms also use sigmoid corrections. Unlike standard disturbances observers, this approach does not require the development of a dynamic model of external disturbances and does not assume their smoothness. The effectiveness of the developed algorithms was confirmed by numerical simulation.

show abstract

Section: Introductionmentioning

confidence: 99%

“…In the first stage, a set of waypoints is defined. Researchers connect them by segments or step functions and obtain a first approximation of the robot's path in the workspace D [7]. To create a primitive path for the center of mass of the UAV, a 3D polyline is set using waypoints (x, y, z) ∈ D ⊂ R 3 .…”

Section: Introductionmentioning

confidence: 99%