Improved 3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft

Altmann, Arne; Niendorf, Moritz; Bednar, Marius; Reichel, Reinhard

doi:10.1007/s10846-013-9851-5

Cited by 12 publications

(5 citation statements)

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“…For instance, our search included, but was not limited to, such terms as “unmanned aerial vehicle,” “UAV,” “drone,” “unmanned aircraft,” “unmanned aerial system,” “UAS,” “remotely piloted aircraft,” and “remotely piloted vehicle.” Note that operations planning of drones are closely related to more general topics, such as operations planning of mobile robots (including ground‐based drones) and mobile sensors as well as vehicle routing and machine scheduling, which are not part of this survey. We consider complex drone operations that usually involve several tasks. Thus, we do not include articles on obstacle‐avoiding path planning from a given starting point to a given end point or on planning trajectories of drones flying in formation . We refer the interested reader to the work of Goerzen et al , Khaksar et al and Yang et al on path planning problems. We survey articles that formulate an optimization problem, describing objective functions, decision variables, and the set of feasible solutions.…”

Section: Introductionmentioning

confidence: 99%

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

et al. 2018

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Unmanned aerial vehicles (UAVs), or aerial drones, are an emerging technology with significant market potential. UAVs may lead to substantial cost savings in, for instance, monitoring of difficult‐to‐access infrastructure, spraying fields and performing surveillance in precision agriculture, as well as in deliveries of packages. In some applications, like disaster management, transport of medical supplies, or environmental monitoring, aerial drones may even help save lives. In this article, we provide a literature survey on optimization approaches to civil applications of UAVs. Our goal is to provide a fast point of entry into the topic for interested researchers and operations planning specialists. We describe the most promising aerial drone applications and outline characteristics of aerial drones relevant to operations planning. In this review of more than 200 articles, we provide insights into widespread and emerging modeling approaches. We conclude by suggesting promising directions for future research.

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Section: Introductionmentioning

confidence: 99%

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

et al. 2018

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“…Many studies have focused on the sUAS path planning problem [24,[34][35][36][37][38][39][40][41][42][43][44][45][46]. The majority of them solve the problem with the unstructured airspace assumption.…”

Section: Urban Airspace Concept: Route Network Over Roadsmentioning

confidence: 99%

Structured Urban Airspace Capacity Analysis: Four Drone Delivery Cases

2023

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A route network-based urban airspace is one of the initial operational concepts of managing the high-density very low-level (VLL) urban airspace for unmanned aircraft system (UAS) traffic management (UTM). For the conceptual urban airspace, it is necessary to perform a quantitative analysis of urban airspace to stakeholders for designing rules and regulations. This study aims to discuss the urban airspace capacity for four different operation types by applying different sequencing algorithms and comparing its results to provide insight and suggestions for different operation cases to assist airspace designers, regulators, and policymakers. Four drone delivery operation types that can be applied in the high-density VLL urban airspace are analysed using the suggested four metrics: total flight time; total flight distance; mission completion time; the number of conflicts. The metrics can be calculated from a flight planning algorithm that we proposed in our previous studies. The algorithm for multiple agents flight planning problems consists of an inner loop algorithm, which calculates each agent’s flight plan, and an outer loop algorithm, which determines the arrival and departure sequences. For each operation type, we apply two different outer loops with the same inner loop to suggest an appropriate sequencing algorithm. Numerical simulation results show tendencies for each type of operation with regard to the outer loop algorithms and the number of agents, and we analyse the results in terms of airspace capacity, which could be utilised for designing structures depending on urban airspace situations and environments. We expect that this study could give some intuition and support to policymakers, urban airspace designers, and regulators.

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“…To analyze the convergence of the proposed velocity controller (36) for the drone, the Lyapunov theory is used. Consider a positive definite Lyapunov function as follows: This function represents the artificial potentials of the controller.…”

Section: Stability Analysismentioning

confidence: 99%

“…Given keyframes consisting of a position in space coupled with a yaw angle, this method is able to generate very smooth, optimal trajectories. Other groups successfully applied methods utilizing Voronoi diagrams [27], [33], receding horizons in relatively unrestricted environments [34], high order parametric curves [35], and 3D interpolation [36].…”

Section: Introductionmentioning

confidence: 99%

A Novel Potential Field Controller for Use on Aerial Robots

Woods

2019

IEEE Trans. Syst. Man Cybern, Syst.

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Abstract-Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.

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Improved 3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft

Cited by 12 publications

References 10 publications

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

Structured Urban Airspace Capacity Analysis: Four Drone Delivery Cases

A Novel Potential Field Controller for Use on Aerial Robots

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