Online Motion Planning for Fixed-Wing Aircraft in Precise Automatic Landing on Mobile Platforms

Abstract

This paper proposes the creative idea that an unmanned fixed-wing aircraft should automatically adjust its 3D landing trajectory online to land on a given touchdown point, instead of following a pre-designed fixed glide slope angle or a landing path composed of two waypoints. A fixed-wing aircraft is a typical under-actuated and nonholonomic constrained system, and its landing procedure—which involves complex kinematic and dynamic constraints—is challenging, especially in some scenarios such as landing on an aircraft carrier, which has a runway that is very short and narrow. The conventional solution of setting a very conservative landing path in advance and controlling the aircraft to follow it without dynamic adjustment of the reference path has not performed satisfactorily due to the variation in initial states and widespread environmental uncertainties. The motion planner shown in this study can adjust an aircraft’s landing trajectory online and guide the aircraft to land at a given fixed or moving point while conforming to the strict constraints. Such a planner is composed of two parts: one is used to generate a series of motion primitives which conform to the dynamic constraints, and the other is used to evaluate those primitives and choose the best one for the aircraft to execute. In this paper, numerical simulations demonstrate that when given a landing configuration composed of position, altitude, and direction, the planner can provide a feasible guidance path for the aircraft to land accurately.

Go with the Flow: Estimating Wind Using Uncrewed Aircraft

“…Simulation can provide idealized wind vectors or fields that are constant or change predictably to verify algorithm effectiveness in different scenarios. A simple kinematic vehicle model called the Dubins Airplane was used to model fixed-wing aircraft motion and turning [61,62]. The kinematic model has no forces or moments and describes 3D motion given a forward velocity, V; vertical climb rate input, u z ; and roll angle, φ, for turning.…”

“…The model is similar to Dubins' Car but modified to model a fixed-wing aircraft. The kinematic equations of motion in the Earth-fixed, XYZ, frame are given in [62].…”

Analysis of the Functionality of a Mobile Network of Sensors in a Construction Project Supervision System Based on Unmanned Aerial Vehicles

“…They are usually resistant to damage, can carry a heavier load, and can stay in the air longer. The next category is fixed-wing unmanned aerial vehicles, which are called aircraft [24]. A characteristic feature of their design is their one wing, and, to remain in the air, it is necessary for them to move.…”