Waypoint Following for Fixed-Wing MAVs in 3D Space

Singh, Nikhil Kumar; Hota, Sikha

doi:10.2514/6.2018-1592

Cited by 6 publications

(3 citation statements)

References 20 publications

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“…Beard (25) extended the 2D Dubins path to 3D and designed a guidance law for the aircraft to follow a straight-line and helical paths. Singh (26) completed obstacle avoidance and path planning in a complex environment based on the 3D Dubins path and obtained the optimal CSC path. The purpose of this paper is to address the problem in landing path following with a special control mode of the full-wing solar-powered UAV in real-life applications in order to improve the landing performance from the perspective of path following and generation.…”

Section: Introductionmentioning

confidence: 99%

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Vector field path following of a full-wing solar-powered Unmanned Aerial Vehicle (UAV) landing based on Dubins path: a lesson from multiple landing failures

et al. 2021

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The full-wing solar-powered UAV has a large aspect ratio, special configuration, and excellent aerodynamic performance. This UAV converts solar energy into electrical energy for level flight and storage to improve endurance performance. The UAV only uses a differential throttle for lateral control, and the insufficient control capability during crosswind landing results in a large lateral distance bias and leads to multiple landing failures. This paper analyzes 11 landing failures and finds that a large lateral distance bias at the beginning of the approach and the coupling of base and differential throttle control is the main reason for multiple landing failures. To improve the landing performance, a heading angle-based vector field (VF) method is applied to the straight-line and orbit paths following and two novel 3D Dubins landing paths are proposed to reduce the initial lateral control bias. The results show that the straight-line path simulation exhibits similar phenomenon with the practical failure; the single helical path has the highest lateral control accuracy; the left-arc to left-arc (L-L) path avoids the saturation of the differential throttle; and both paths effectively improve the probability of successful landing.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Vector field path following of a full-wing solar-powered Unmanned Aerial Vehicle (UAV) landing based on Dubins path: a lesson from multiple landing failures

et al. 2021

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“…A preliminary version of the current work was presented in the literature, 33 where the CSC path between a pair of waypoints with different values of turn radii for initial and final turns was presented. Only cylindrical-shaped obstacles were considered there and the collision checking was addressed in brief.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional waypoint following for fixed-wing unmanned aerial vehicles in obstacle-filled environments

Singh

Hota

2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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The paper computes optimal paths for fixed-wing unmanned aerial vehicles with bounded turn radii to follow a series of waypoints with specified directions in a three-dimensional obstacle-filled environment. In the existing literature, it was proved that the optimal path is of circular turn–straight line–circular turn (CSC) type for two consecutive waypoint configurations, when the points are sufficiently far apart and there is no obstacle in the field. The maximum of all minimum turn radii corresponding to all possible two-dimensional circular maneuvers was used for both the initial and final turns to develop the CSC-type paths. But, this paper considers the minimum turn radii for initial and final turns, corresponding to the maneuvering planes and which produces shorter CSC-type paths. In an obstacle-filled environment the shortest path may collide with obstacles, so a strategy is proposed to switch to the next best path that does not collide with obstacles. Using this technique, a series of waypoints is followed in the presence of obstacles of different types, for example, cylindrical, hemispherical, and spherical in shapes with different sizes. Finally, simulation results are presented to show the efficiency of the algorithm for obstacle avoidance. The computation time listed here indicates the potentiality of this algorithm for implementation in real time.

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Application of the Improved Incremental Nonlinear Dynamic Inversion in Fixed-Wing UAV Flight Tests

et al. 2022

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Waypoint Following for Fixed-Wing MAVs in 3D Space

Cited by 6 publications

References 20 publications

Vector field path following of a full-wing solar-powered Unmanned Aerial Vehicle (UAV) landing based on Dubins path: a lesson from multiple landing failures

Vector field path following of a full-wing solar-powered Unmanned Aerial Vehicle (UAV) landing based on Dubins path: a lesson from multiple landing failures

Three-dimensional waypoint following for fixed-wing unmanned aerial vehicles in obstacle-filled environments

Application of the Improved Incremental Nonlinear Dynamic Inversion in Fixed-Wing UAV Flight Tests

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