Download or read book Hierarchical Path Planning and Control of a Small Fixed wing Uav written by Dongwon Jung Jung and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently there has been a tremendous growth of research emphasizing control of unmanned aerial vehicles (UAVs) either in isolation or in teams. As a matter of fact, UAVs increasingly find their way to applications, especially in military and law enforcement (e.g., reconnaissance, remote delivery of urgent equipment/material, resource assessment, environmental monitoring, battlefield monitoring, ordnance delivery, etc.). This trend will continue in the future, as UAVs are poised to replace the human-in-the-loop during dangerous missions. Civilian applications of UAVs are also envisioned such as crop dusting, geological surveying, search and rescue operations, etc.
Download or read book Unmanned Aircraft Systems written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2008-12-21 with total page 533 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last decade in both military and civilian domains. It is anticipated that civilian applications will be dominant in the future, although there are still barriers to be overcome and technical challenges to be met. Integrating UAS into, for example, civilian space, navigation, autonomy, see-detect-and-avoid systems, smart designs, system integration, vision-based navigation and training, to name but a few areas, will be of prime importance in the near future. This special volume is the outcome of research presented at the International Symposium on Unmanned Aerial Vehicles, held in Orlando, Florida, USA, from June 23-25, 2008, and presents state-of-the-art findings on topics such as: UAS operations and integration into the national airspace system; UAS navigation and control; micro-, mini-, small UAVs; UAS simulation testbeds and frameworks; UAS research platforms and applications; UAS applications. This book aims at serving as a guide tool on UAS for engineers and practitioners, academics, government agencies and industry. Previously published in the Journal of Intelligent and Robotic Systems, 54 (1-3, 2009).
Download or read book Sensor driven Hierarchical Path Planning for Unmanned Aerial Vehicles Using Canonical Tasks and Sensors written by Spencer J. Clark and published by . This book was released on 2013 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) are increasingly becoming economical platforms for carrying a variety of sensors. Building flight plans that place sensors properly, temporally and spatially, is difficult. The goal of sensor-driven planning is to automatically generate flight plans based on desired sensor placement and temporal constraints. We propose a simple taxonomy of UAV-enabled sensors, identify a set of generic sensor tasks, and argue that many real-world tasks can be represented by the taxonomy. We present a hierarchical sensor-driven flight planning system capable of generating 2D flights that satisfy desired sensor placement and complex timing and dependency constraints. The system makes use of several well-known planning algorithms and includes a user interface. We conducted a user study to show that sensor-driven planning can be used by non-experts, that it is easier for non-experts than traditional waypoint-based planning, and that it produces better flights than waypoint-based planning. The results of our user study experiment support the claims that sensor-driven planning is usable and that it produces better flights.
Download or read book Nonlinear Control of Fixed Wing UAVs with Time Varying and Unstructured Uncertainties written by Michail G. Michailidis and published by Springer Nature. This book was released on 2020-02-21 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.
Download or read book Online Path Planning and Control Solution for a Coordinated Attack of Multiple Unmanned Aerial Vehicles in a Dynamic Environment written by Juan E. Vega-Nevárez and published by . This book was released on 2012 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: The role of the unmanned aerial vehicle (UAV) has significantly expanded in the military sector during the last decades mainly due to their cost effectiveness and their ability to eliminate the human life risk. Current UAV technology supports a variety of missions and extensive research and development is being performed to further expand its capabilities. One particular field of interest is the area of the low cost expendable UAV since its small price tag makes it an attractive solution for target suppression. A swarm of these low cost UAVs can be utilized as guided munitions or kamikaze UAVs to attack multiple targets simultaneously. The focus of this thesis is the development of a cooperative online path planning algorithm that coordinates the trajectories of these UAVs to achieve a simultaneous arrival to their dynamic targets. A nonlinear autopilot design based on the dynamic inversion technique is also presented which stabilizes the dynamics of the UAV in its entire operating envelope. A nonlinear high fidelity six degrees of freedom model of a fixed wing aircraft was developed as well that acted as the main test platform to verify the performance of the presented algorithms.
Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by John Wiley & Sons. This book was released on 2010-11-09 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.
Download or read book A Heuristic Flight Path Planner for a Small UAV Attempting to Find a Single Target in Minimum Time written by and published by . This book was released on 2007 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: The work presented here is a part of ongoing research into flight path planning for autonomous fixed wing aircraft. The problem of a single Unmanned Aerial Vehicle attempting to find a single stationary target in minimum time is examined. The problem is tailored to a specific type of UAV i.e. a low cost high maneuverability propeller driven fixed wing aircraft of wingspan 2-20 meters. The objective area to be searched for the target is split into cells the size of the area occupied by the target and occupancy probabilities for each cell are assigned. A methodology for extending the problem to the case of a target that moves but is constrained to move only in the objective area is presented. The search problem is set up as an infinite horizon optimization problem. The problem is converted to a finite horizon shortest path problem. The NP hard shortest path problem is then solved using a two step look ahead heuristic algorithm, which ultimately yields an approximately optimal solution of the search problem itself. Finally simulation results are presented which show the heuristic algorithm generated path's efficacy compared to a zigzag path and a path generated by a greedy algorithm.
Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
Download or read book Path Planning for Fixed Wing Unmanned Aerial Vehicles written by Daniel Schneider and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Controlling Small Fixed Wing UAVs to Optimize Image Quality from On Board Cameras written by Stephen Phillip Jackson and published by . This book was released on 2011 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small UAVs have shown great promise as tools for collecting aerial imagery both quickly and cheaply. Furthermore, using a team of small UAVs, as opposed to one large UAV, has shown promise as being a cheaper, faster and more robust method for collecting image data over a large area. Unfortunately, the autonomy of small UAVs has not yet reached the point where they can be relied upon to collect good aerial imagery without human intervention, or supervision. The work presented here intends to increase the level of autonomy of small UAVs so that they can independently, and reliably collect quality aerial imagery. The main contribution of this paper is a novel approach to controlling small fixed wing UAVs that optimizes the quality of the images captured by cameras on board the aircraft. This main contribution is built on three minor contributions: a kinodynamic motion model for small fixed wing UAVs, an iterative Gaussian sampling strategy for rapidly exploring random trees, and a receding horizon, nonlinear model predictive controller for controlling a UAV's sensor footprint. The kinodynamic motion model is built on the traditional unicycle model of an aircraft. In order to create dynamically feasible paths, the kinodynamic motion model augments the kinetic unicycle model by adding a first order estimate of the aircraft's roll dynamics. Experimental data is presented that not only validates this novel kinodynamic motion model, but also shows a 25% improvement over the traditional unicycle model. A novel Gaussian biased sampling strategy is presented for building a rapidly exploring random tree that quickly iterates to a near optimal path. This novel sampling strategy does not require a method for calculating the nearest node to a point, which means that it runs much faster than the traditional RRT algorithm, but it still results in a Gaussian distribution of nodes. Furthermore, because it uses the kinodynamic motion model, the near optimal path it generates is, by definition, dynamically feasible. A nonlinear model predictive controller is presented to control the non-minimum phase problem of tracking a target on the ground from a UAV with a fixed camera. It is shown that this novel controller is probabilistically guaranteed to asymptotically converge to the path that minimizes the cross-track error of the UAV's sensor footprint. In addition, for a minimum phased problem, it is shown that its tracking performance is on par with a sliding mode controller, which at least theoretically, is capable of achieving perfect tracking. Finally, all three of these contributions are experimental validated by performing a variety of tracking tasks using the Berkeley Sig Rascal UAV.
Download or read book Smart Autonomous Aircraft written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2015-11-18 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the extraordinary growth of Unmanned Aerial Vehicles (UAV) in research, military, and commercial contexts, there has been a need for a reference that provides a comprehensive look at the latest research in the area. Filling this void, Smart Autonomous Aircraft: Flight Control and Planning for UAV introduces the advanced methods of flight contr
Download or read book Fault tolerant Flight Control and Guidance Systems written by Guillaume J. J. Ducard and published by Springer Science & Business Media. This book was released on 2009-05-14 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a complete overview of fault-tolerant flight control techniques. Discussion covers the necessary equations for the modeling of small UAVs, a complete system based on extended Kalman filters, and a nonlinear flight control and guidance system.
Download or read book Guidance Control and Trajectory Tracking of Small Fixed Wing Unmanned Aerial Vehicles UAV s written by Amer A. Al-Radaideh and published by . This book was released on 2009 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned Aerial Vehicles (UAV's) have gained increasing considerations due to their low cost and increased autonomy. A large number of applications in the military and civilian fields. The present work considers a low level flight control algorithms (auto-pilot) to improve the guidance, path following and trajectory tracking capabilities of the low speed fixed wing AUS-UAV. In addition, this investigation aims the development and building of fully functioning test-bed UAV platform."--Abstract, p. iii.
Download or read book Dissertation Abstracts International written by and published by . This book was released on 2008 with total page 994 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems ICAUS 2022 written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Download or read book Adaptive and Optimal Motion Control of Multi UAV Systems written by Nasrettin Köksal and published by . This book was released on 2019 with total page 137 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis studies trajectory tracking and coordination control problems for single and multi unmanned aerial vehicle (UAV) systems. These control problems are addressed for both quadrotor and fixed-wing UAV cases. Despite the fact that the literature has some approaches for both problems, most of the previous studies have implementation challenges on real-time systems. In this thesis, we use a hierarchical modular approach where the high-level coordination and formation control tasks are separated from low-level individual UAV motion control tasks. This separation helps efficient and systematic optimal control synthesis robust to effects of nonlinearities, uncertainties and external disturbances at both levels, independently. The modular two-level control structure is convenient in extending single-UAV motion control design to coordination control of multi-UAV systems. Therefore, we examine single quadrotor UAV trajectory tracking problems to develop advanced controllers compensating effects of nonlinearities and uncertainties, and improving robustness and optimality for tracking performance. At first, a novel adaptive linear quadratic tracking (ALQT) scheme is developed for stabilization and optimal attitude control of the quadrotor UAV system. In the implementation, the proposed scheme is integrated with Kalman based reliable attitude estimators, which compensate measurement noises. Next, in order to guarantee prescribed transient and steady-state tracking performances, we have designed a novel backstepping based adaptive controller that is robust to effects of underactuated dynamics, nonlinearities and model uncertainties, e.g., inertial and rotational drag uncertainties. The tracking performance is guaranteed to utilize a prescribed performance bound (PPB) based error transformation. In the coordination control of multi-UAV systems, following the two-level control structure, at high-level, we design a distributed hierarchical (leader-follower) 3D formation control scheme. Then, the low-level control design is based on the optimal and adaptive control designs performed for each quadrotor UAV separately. As particular approaches, we design an adaptive mixing controller (AMC) to improve robustness to varying parametric uncertainties and an adaptive linear quadratic controller (ALQC). Lastly, for planar motion, especially for constant altitude flight of fixed-wing UAVs, in 2D, a distributed hierarchical (leader-follower) formation control scheme at the high-level and a linear quadratic tracking (LQT) scheme at the low-level are developed for tracking and formation control problems of the fixed-wing UAV systems to examine the non-holonomic motion case. The proposed control methods are tested via simulations and experiments on a multi-quadrotor UAV system testbed.
Download or read book Multisensor Attitude Estimation written by Hassen Fourati and published by CRC Press. This book was released on 2016-11-03 with total page 757 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.
