Development of Flight Path Planning for Multirotor  Aerial Vehicles

Tsai, Yi-Ju; Lee, Chia-Sung; Lin, Chong; Huang, Chun-Hsi

doi:10.3390/aerospace2020171

Cited by 16 publications

(11 citation statements)

References 25 publications

(20 reference statements)

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“…Among these designs, the quad-copter with the x configuration was simulated in the HITL. Unlike fixed-wing and helicopter model, multi-rotor are controlled by changing the motors' speeds to achieve 3D trajectory movements i.e., pitch, yaw, and roll [32]. When the multirotor copter reaches the end of a flight strip, it can yaw at an aggressive angle (see Figure 10).…”

Section: Multi-rotor Frameworkmentioning

confidence: 99%

Performance Evaluation of Multi-UAV System in Post-Disaster Application: Validated by HITL Simulator

Aljehani

Inoue

2019

IEEE Access

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This paper proposes an evaluation of unmanned aerial vehicles (UAVs) performance in the mapping of disaster-struck areas. Sendai city in Japan, which was struck by the Tohoku earthquake/tsunami disaster in 2011, was mapped using multi-heterogeneous UAV. Normal mapping and searching missions are challenging as human resources are limited, and rescue teams are always needed to participate in disaster response mission. Mapping data and UAV performance evaluation will help rescuers to access and commence rescue operations in disaster-affected areas more effectively. Herein, flight plan designs are based on the information recorded after the disaster and on the mapping capabilities of the UAVs. The numerical and statistical results of the mapping missions were validated by executing the missions on real-time flight experiments in a simulator and analyzing the flight logs of the UAVs. After considering many factors and elements that affect the outcomes of the mapping mission, the authors provide a significant amount of useful data relevant to real UAV modules in the market. All flight plans were verified both manually and in a hardware-in-the-loop simulator developed by the authors. Most of the existing simulators support only a single UAV feature and have limited functionalities such as the ability to run different models on multiple UAVs. The simulator demonstrated the mapping and fine-tuned flight plans on an imported map of the disaster. As revealed in the experiments, the presented results and performance evaluations can effectively distribute different UAV models in post-disaster mapping missions. INDEX TERMS Path planning evaluation, UAVs, mapping missions, disaster response, searching and rescue mission, flight plan design, hardware in the loop simulator.

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Section: Multi-rotor Frameworkmentioning

confidence: 99%

Performance Evaluation of Multi-UAV System in Post-Disaster Application: Validated by HITL Simulator

Aljehani

Inoue

2019

IEEE Access

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“…Differential evolution algorithm was used to provide a better initial guess for space maneuver vehicle trajectory planning by Tsourdos [20], so the collision avoidance for the formation problem is not exist. RRT method was adopted to achieve real-time flight-path planning for multirotor aerial vehicles [21]. A new hybrid collision avoidance method along with a modified path following approach was proposed to reduce the computational efforts and satisfied the performance of collision avoidance [22].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization and Finite-Time Control for Unmanned Helicopters Formation

et al. 2019

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A safe and rapid formation generation is of great importance for the cooperation performance of the multiple unmanned helicopters. The trajectory optimization and control is the key problem in the process of the formation generation. To achieve this goal, a novel safe formation generation strategy is proposed through trajectory optimization and tracking control. First, the rapidly-exploring random tree (RRT) algorithm is applied to obtain the initial guess to satisfy the requirement of rapid solution. Then, the Gauss pseudospectral method is used to transform the optimal control problem to the nonlinear programming (NLP) problem and the sequence quadratic programming (SQP) method is utilized to gain the optimal trajectory combined with the initial guess. Second, a finite-time sliding mode controller is proposed to ensure the finite time trajectory tracking in the presence of model parameter uncertainties and unknown external disturbances. Finally, the numerical simulation is provided to show the effectiveness of the proposed formation generation strategy for unmanned helicopters formation.INDEX TERMS Trajectory optimization, finite-time sliding mode controller, unmanned helicopters formation.

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“…Tsai, et al [1] proposed a three-dimensional real-time path planning based on rapidlyexploring random tree algorithm (RRT). However, the paths generated are, in general, not optimal due to the existence of redundant waypoints.…”

Section: Introductionmentioning

confidence: 99%

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Ibrahim¹,

Karam²,

Akkad³

2018

Instrumentation Engineering, Electronics and Telecommunications

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In this paper, a method for collision-free three-dimensional autonomous navigation of an underactuated coupled non-holonomic unmanned aerial vehicle (UAV) among obstacles was proposed. This method will be the basis for designing a planner for the UAV trajectory guidance in a 3D cluttered environment. The planner assumes that the cost of flying over an area is independent of the path through which the UAV reaches that area, however this is not always true. Moreover, the path problem is not formulated as a matter of numeric cost minimization to be solved by methods like dynamic programming, which is time-consuming. A dynamic model of six degrees of freedom hexacopter equipped with a robotic arm has been formulated using Newton-Euler's method. Then, the equations of motion of the UAV are derived by including disturbances analysis. The derived dynamic model reflects the real motion of the hexacopter with respect to the earth, which is also characterized by nonlinearity, time variance, underactuation and coupling among the equations' variables. This paper suggests bio-inspired and sample-based algorithms in order to solve and optimize the threedimensional path-planning problem. A unique real-time obstacle avoidance approach based on artificial potential field concept in addition to an off-line genetic algorithm were investigated.

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Development of Flight Path Planning for Multirotor Aerial Vehicles

Cited by 16 publications

References 25 publications

Performance Evaluation of Multi-UAV System in Post-Disaster Application: Validated by HITL Simulator

Performance Evaluation of Multi-UAV System in Post-Disaster Application: Validated by HITL Simulator

Trajectory Optimization and Finite-Time Control for Unmanned Helicopters Formation

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

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