Cooperative Path Planning of Unmanned Aerial Vehicles

Tsourdos, Antonios; White, Brian; Shanmugavel, Madhavan

doi:10.2514/4.867798

Cited by 104 publications

(93 citation statements)

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“…We then proceed to plot (x(u), y( u), z(u)) in a 3D space for the UAY trajectory according to (4) In fact, the main path, r(u) , is divided into two paths, r l( u) and r 2 (u) , where the obtained point is the final point for r l (u) and the start point for r 2 (u) . Let us find the coordination of this point; more details on this part is discussed in [16].…”

Section: Re-planning the Pathmentioning

confidence: 99%

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3D offline path planning for a surveillance aerial vehicle using B-splines

Nabi-Abdolyousefi

Banazadeh

2013

Proceedings of the 2013 International Conference on Advanced Mechatronic Systems

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This paper presents an offline path planning method in 3D space for a surveillance aerial vehicle. In this method, the aerial vehicle is supposed to visit particular points on the path, and the collision between the vehicle and the fixed obstacles in the environment must be avoided. In order to accomplish the mission, first, the path is generated using B-splines. Then, the feasibility of tracking the designed path for the vehicle is considered by analyzing the vehicle's dynamic constraints, such as limitations on deflections of control surfaces. The analysis is supported by a simulation. Potential extension of the proposed analysis to multiple aerial vehicles has been also discussed at the end of this paper.

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Section: Re-planning the Pathmentioning

confidence: 99%

“…Tsourdos et af. in [16] have explained this case and divided the condition into two groups as follows 1) min-separation distance: dsep 2) non-interaction paths: dint Following we define these two parameters.…”

Section: Yi Future Work: Extending the Approach To Multiple Uaysmentioning

confidence: 99%

3D offline path planning for a surveillance aerial vehicle using B-splines

Nabi-Abdolyousefi

Banazadeh

2013

Proceedings of the 2013 International Conference on Advanced Mechatronic Systems

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“…Simple planning strategies such as straight line between waypoints, loitering or coordinated flight are generally available in most autopilots. However when the planning task requires the use of more advanced algorithms [19], it requires the use of computers with more processing capability. In this case, a core-processing computer can perform the planning task, while an interface with the autopilot allows the command and control of the aircraft.…”

Section: Similar Functional Requirements Between Applicationsmentioning

confidence: 99%

Flight Guardian: A common avionics architecture for collision avoidance and safe emergency landing for unmanned aerial systems

Mejias

Greer

2012

2012 IEEE/AIAA 31st Digital Avionics Systems Conference (DASC)

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This paper presents an approach to derive requirements for an avionics architecture that provides onboard sense-and-avoid and autonomous emergency forced landing capabilities to a UAS. The approach is based on two design paradigms that (1) derive requirements analyzing the common functionality between these two functions to then derive requirements for sensors, computing capability, interfaces, etc.(2) consider the risk and safety mitigation associated with these functions to derive certification requirements for the system design. We propose to use the Aircraft Certification Matrix (ACM) approach to tailor the system Development Assurance Levels (DAL) and architecture requirements in accordance with acceptable risk criteria. This architecture is developed under the name "Flight Guardian". Flight Guardian is an avionics architecture that integrates common sensory elements that are essential components of any UAS that is required to be dependable. The Flight Guardian concept is also applicable to conventionally piloted aircraft, where it will serve to reduce cockpit workload.

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“…So that the deflection angle can be obtained by using the 'CLC' type of the Dubins curves [11] . v are the initial azimuth and velocity.…”

Section: A Heading Adjusting and Aligning Landing Runwaymentioning

confidence: 99%

Design of landing trajectory for unpowered aircraft using an hp-adaptive Radau pseudospectral method

Cai

Lin

et al. 2014

Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference

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Aiming at the problem of an emergency landing of unpowered aircraft, this paper presents the design of landing trajectory. Firstly, the effect of the shear wind for the flight path is considered. Secondly, the problem of unpowered flight's landing is modeled by the time-optimal control method. The landing trajectory is divided into four piecewise trajectories and the characteristics of each are determined by some simple equations. The deflection angle of turn is obtained by the Dubins curves method. Thirdly, the problem is solved by the hp-adaptive radau pseudospectral method. Simulation results indicate that the designed landing trajectory could guide the unpowered plane landed safely and quickly.

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Cooperative Path Planning of Unmanned Aerial Vehicles

Cited by 104 publications

References 0 publications

3D offline path planning for a surveillance aerial vehicle using B-splines

3D offline path planning for a surveillance aerial vehicle using B-splines

Flight Guardian: A common avionics architecture for collision avoidance and safe emergency landing for unmanned aerial systems

Design of landing trajectory for unpowered aircraft using an hp-adaptive Radau pseudospectral method

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