Time minimum synthesis for a kinematic drone model

Abstract

In this paper, we consider a (rough) kinematic model for a UAV flying at constant altitude moving forward with positive lower and upper bounded linear velocities and positive minimum turning radius. For this model, we consider the problem of minimizing the time travelled by the UAV starting from a general configuration to connect a specified target being a fixed circle of minimum turning radius. The time-optimal synthesis, presented as a partition of the state space, defines a unique optimal path such that the target can be reached optimally.

Minimal time synthesis for a kinematic drone model

“…Note that the first version of the synthesis (Fig. 3) presented without detail in the conference paper [10] is mistaken. Indeed, in [10], the synthesis is incomplete since the last arc γ M P pP M m of Family 2 is missing.…”

“…The purpose of this paper is to study the influence of a non-constant linear velocity. A preliminary version of this work as been published in [10].…”

Lyapunov‐Lasalle Based Dynamic Stabilization for Fixed Wing Drones

“…The model used in this article is inspired by the Dubins model [12,24] and [9]. It has been extensively studied for the modeling of vehicles and ixed wing drones, especially in regards to trajectory optimality [2,7,18] and [16]. The authors in [1,4,22] and [21] provide a review of UAV path planning and replanning tracking algorithms.…”