Real-Time Autonomous Obstacle Avoidance for Fixed-Wing UAVs Using a Dynamic Model

Adhikari, Min Prasad; Ruiter, Anton H. J. de

doi:10.1061/(asce)as.1943-5525.0001143

Cited by 5 publications

(3 citation statements)

References 24 publications

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“…The UAV motion planning considering a flight mechanics to accommodate a UAV flight performance had been considered in [15,[18][19][20][21][22]. Yu et al [18] applied Bezier Curve-Based Shaping (BCBS) to generate 3D cooperative trajectories for the UAVs.…”

Section: Introductionmentioning

confidence: 99%

“…Commands of thrust, bank angle, and angle of attack when UAV flight at a constant altitude were implemented based on maximization of the energy. Adhikari and Ruiter [20] presented the methodology for real-time autonomous obstacle avoidance for fixed-wing UAV where the UAV was required to keep close to a reference path. Finite horizon model predictive control was applied.…”

Section: Introductionmentioning

confidence: 99%

“…Keeping the flight trajectories in the UAV operational area is the compulsory task where the wrong flight trajectories which are beyond the UAV flight operational area can bring serious damage or accident. For example, the fixed-wing UAV has the minimum speed to avoid it from a stall condition and the maximum speed that has come from the actuator constraint [20,22].…”

Section: Introductionmentioning

confidence: 99%

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Flight Trajectories Optimization of Fixed-Wing UAV by Bank-Turn Mechanism

Machmudah

Shanmugavel

Parman

et al. 2022

Drones

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This paper addresses an optimization of Unmanned Aerial Vehicle (UAV) flight trajectories by bank-turn mechanism for a fixed-wing UAV at a constant altitude. The flight trajectories should be optimal and stay in the UAV flight operational area. The maneuver planning is conducted in two steps, which are UAV path planning and UAV flight trajectory planning. For the first step, the Bezier curve is employed as a maneuvering path. The path planning optimization objective is to minimize the path length while satisfying maximum curvature and collision avoidance constraints. The flight trajectories optimization objective is to minimize maneuvering time and load factor considering, minimum/maximum speed, minimum/maximum acceleration, maximum roll angle, maximum turn rate, and aerodynamics constraints. The variable speed trajectory generation is developed within allowable speed zone considering these UAV flight constraints by employing meta-heuristic optimizations. Results show that the PSO have outperformed the GA and the GWO for both steps of path planning and trajectory planning. The variable speed has succeeded in reducing the load factor during the bank-turn mechanism using the Bezier curve. The variable speed is recommended to be conducted when the result of the maneuvering path involve the lower turning radius. A simultaneous on arrival target mission has also succeeded to be conducted using the combination of the variable speed and constant speed strategies.

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