Pub Date : 2019-06-11DOI: 10.1109/ICUAS.2019.8797839
Sarah Barlow, Youngjun Choi, Simon Briceno, D. Mavris
This paper explores a multi-UAV trajectory optimization methodology for confined environments. One potential application of this technology is performing warehouse inventory audits; this application is used to evaluate the methodologie’s impact on minimizing total mission times. This paper investigates existing algorithms and improves upon them to better address the constraints of warehouse-like environments. An existing inventory scanning algorithm generates sub-optimal, collision free paths for multi-UAV operations, which has two sequential processes: solving a vehicle routing problem, and determining optimal deployment time without any collision. To improve the sub-optimal results, this paper introduces three possible improvements on the multi-UAV inventory tracking scenario. First, a new algorithm logic which seeks to minimize the total mission time once collision avoidance has been ensured rather than having separate processes. Next, an objective function that seeks to minimize the maximum UAV mission time rather than minimizing the total of all UAV mission times. Last, an operational setup consisting of multiple deployment locations instead of only one. These algorithms are evaluated individually and in combination with one another to assess their impact on the overall mission time using a representative inventory environment. The best combination will be further analyzed through a design of experiments by varying several inputs and examining the resulting fleet size, computation time, and overall mission time.
{"title":"A Multi-UAS Trajectory optimization Methodology for Complex Enclosed Environments","authors":"Sarah Barlow, Youngjun Choi, Simon Briceno, D. Mavris","doi":"10.1109/ICUAS.2019.8797839","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797839","url":null,"abstract":"This paper explores a multi-UAV trajectory optimization methodology for confined environments. One potential application of this technology is performing warehouse inventory audits; this application is used to evaluate the methodologie’s impact on minimizing total mission times. This paper investigates existing algorithms and improves upon them to better address the constraints of warehouse-like environments. An existing inventory scanning algorithm generates sub-optimal, collision free paths for multi-UAV operations, which has two sequential processes: solving a vehicle routing problem, and determining optimal deployment time without any collision. To improve the sub-optimal results, this paper introduces three possible improvements on the multi-UAV inventory tracking scenario. First, a new algorithm logic which seeks to minimize the total mission time once collision avoidance has been ensured rather than having separate processes. Next, an objective function that seeks to minimize the maximum UAV mission time rather than minimizing the total of all UAV mission times. Last, an operational setup consisting of multiple deployment locations instead of only one. These algorithms are evaluated individually and in combination with one another to assess their impact on the overall mission time using a representative inventory environment. The best combination will be further analyzed through a design of experiments by varying several inputs and examining the resulting fleet size, computation time, and overall mission time.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"231 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132712615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-11DOI: 10.1109/ICUAS.2019.8798079
João Galante, M. Ribeiro, Roberto de Nobrega, Jorge Neiva, António Sárgio Ferreira, J. Sousa
With the rise in the use of multi-vehicles teams, for maritime operations, new challenges and opportunities arise regarding the complexity and logistics of these scenarios. One way to cope with said complexity is to imbue some of these systems with the versatility of operating in more than one physical medium (air/water/land) during its normal mission cycle, maximizing their possible mission roles. The ability of having a vehicle which can operate both in the air and on the water can further expand and facilitate maritime operations by allowing new sampling, deployment and even communication scenarios. This work follows the iterations of a specific vehicle concept, through its various phases, and tracks the developments and challenges necessary to adapt a Remotely Piloted Aircraft Systems (RPAS) to become capable of water take-off & landing, and explores its applicability as a viable operational mobile communication gateway for underwater and surface assets.
{"title":"Water Take-off and Landing Hybrid Copter approach for Maritime CONOPs","authors":"João Galante, M. Ribeiro, Roberto de Nobrega, Jorge Neiva, António Sárgio Ferreira, J. Sousa","doi":"10.1109/ICUAS.2019.8798079","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798079","url":null,"abstract":"With the rise in the use of multi-vehicles teams, for maritime operations, new challenges and opportunities arise regarding the complexity and logistics of these scenarios. One way to cope with said complexity is to imbue some of these systems with the versatility of operating in more than one physical medium (air/water/land) during its normal mission cycle, maximizing their possible mission roles. The ability of having a vehicle which can operate both in the air and on the water can further expand and facilitate maritime operations by allowing new sampling, deployment and even communication scenarios. This work follows the iterations of a specific vehicle concept, through its various phases, and tracks the developments and challenges necessary to adapt a Remotely Piloted Aircraft Systems (RPAS) to become capable of water take-off & landing, and explores its applicability as a viable operational mobile communication gateway for underwater and surface assets.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"298 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116254582","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-11DOI: 10.1109/ICUAS.2019.8798199
Ema Falomir, S. Chaumette, Gilles Guerrini
Collaboration between several Unmanned Aerial Vehicles (UAVs) can produce high-quality results in numerous missions, including surveillance, search and rescue, tracking or identification. Such a combination of collaborative UAVs is referred to as a swarm. These several platforms enhance the global system capabilities by supporting some form of resilience and by increasing the number and/or the variety of the embedded sensors. Furthermore, several UAVs organized in a swarm can (should the ground control station support this) be considered as a single entity from an operator point-of-view. We aim at using such swarms in complex and unknown environments, and in the long term, allow compact flights.Dynamic path planning computation for each UAV is a major task to perform their mission. To define this path planning, we have implemented a three-dimensional (3D) mobility model for swarms of UAVs using both the Artificial Potential Fields (APF) principle and a global path planning method. In our model, the collaboration between the platforms is made by sharing information about the detected obstacles. To provide a significant validation of our mobility model, we have simulated real-world environments and real-world sensors characteristics, using the OMNeT + network simulator.
{"title":"A 3D Mobility Model for Autonomous Swarms of Collaborative UAVs","authors":"Ema Falomir, S. Chaumette, Gilles Guerrini","doi":"10.1109/ICUAS.2019.8798199","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798199","url":null,"abstract":"Collaboration between several Unmanned Aerial Vehicles (UAVs) can produce high-quality results in numerous missions, including surveillance, search and rescue, tracking or identification. Such a combination of collaborative UAVs is referred to as a swarm. These several platforms enhance the global system capabilities by supporting some form of resilience and by increasing the number and/or the variety of the embedded sensors. Furthermore, several UAVs organized in a swarm can (should the ground control station support this) be considered as a single entity from an operator point-of-view. We aim at using such swarms in complex and unknown environments, and in the long term, allow compact flights.Dynamic path planning computation for each UAV is a major task to perform their mission. To define this path planning, we have implemented a three-dimensional (3D) mobility model for swarms of UAVs using both the Artificial Potential Fields (APF) principle and a global path planning method. In our model, the collaboration between the platforms is made by sharing information about the detected obstacles. To provide a significant validation of our mobility model, we have simulated real-world environments and real-world sensors characteristics, using the OMNeT + network simulator.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122498031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-11DOI: 10.1109/ICUAS.2019.8798124
Liang Lu, Carlos Sampedro, Javier Rodríguez-Vázquez, P. Campoy
Collision avoidance plays a crucial role for autonomous navigation in unknown dynamic environments and still remains an ongoing research problem. In this paper, we present a new collision avoidance algorithm by combining an RRT* path planner with a Signed Distance Field (SDF) based collision checking algorithm, in which the trajectory is optimized by a short cut and Optimal Polynomial Trajectory algorithms. The proposed algorithm is integrated to work in combination with a Model Predictive Control (MPC) based trajectory controller in order to provide a complete system for reactive navigation purposes. A thorough evaluation of the proposed algorithm has been conducted in several simulating scenarios using RotorS Gazebo simulator, showing fast collision checking capabilities in the presence of static and dynamic obstacles. The results show that the proposed algorithm outperforms in 76.93% considering the processing time when tested in a 1000 × 1000 pixels map. The results also demonstrate that the proposed navigation algorithm allows the safe navigation of a multirotor Unmanned Aerial Vehicle (UAV).
{"title":"Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs","authors":"Liang Lu, Carlos Sampedro, Javier Rodríguez-Vázquez, P. Campoy","doi":"10.1109/ICUAS.2019.8798124","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798124","url":null,"abstract":"Collision avoidance plays a crucial role for autonomous navigation in unknown dynamic environments and still remains an ongoing research problem. In this paper, we present a new collision avoidance algorithm by combining an RRT* path planner with a Signed Distance Field (SDF) based collision checking algorithm, in which the trajectory is optimized by a short cut and Optimal Polynomial Trajectory algorithms. The proposed algorithm is integrated to work in combination with a Model Predictive Control (MPC) based trajectory controller in order to provide a complete system for reactive navigation purposes. A thorough evaluation of the proposed algorithm has been conducted in several simulating scenarios using RotorS Gazebo simulator, showing fast collision checking capabilities in the presence of static and dynamic obstacles. The results show that the proposed algorithm outperforms in 76.93% considering the processing time when tested in a 1000 × 1000 pixels map. The results also demonstrate that the proposed navigation algorithm allows the safe navigation of a multirotor Unmanned Aerial Vehicle (UAV).","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123785964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-11DOI: 10.1109/ICUAS.2019.8798039
J. Verberne, H. Moncayo
Current efforts at the Advanced Dynamics and Control Laboratory (ADCL) at Embry-Riddle Aeronautical University (ERAU) are focusing on the implementation of robust control laws for disturbance rejection in quadrotors. This paper describes the development of two types of control architectures in an effort to reject or minimize wind effects in quadrotor UAVs. The design of a novel extension of the classic Non-Linear Dynamic Inversion (NLDI) control architecture for wind disturbance rejection is presented. This is followed by the application of adaptive artificial neural networks (ANN) to augment the classic NLDI control law designed to correct inversion errors caused by wind disturbance. Models are presented along with a simulation environment for various wind generated forces and moments. Monte Carlo numerical simulations are performed to analyze the performance of the classic NLDI, extended NLDI and NLDI with ANN augmentation under wind conditions. Results show that the NLDI with ANN augmentation outperforms the classic and extended NLDI controllers.
{"title":"Robust Control Architecture for Wind Rejection in Quadrotors","authors":"J. Verberne, H. Moncayo","doi":"10.1109/ICUAS.2019.8798039","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798039","url":null,"abstract":"Current efforts at the Advanced Dynamics and Control Laboratory (ADCL) at Embry-Riddle Aeronautical University (ERAU) are focusing on the implementation of robust control laws for disturbance rejection in quadrotors. This paper describes the development of two types of control architectures in an effort to reject or minimize wind effects in quadrotor UAVs. The design of a novel extension of the classic Non-Linear Dynamic Inversion (NLDI) control architecture for wind disturbance rejection is presented. This is followed by the application of adaptive artificial neural networks (ANN) to augment the classic NLDI control law designed to correct inversion errors caused by wind disturbance. Models are presented along with a simulation environment for various wind generated forces and moments. Monte Carlo numerical simulations are performed to analyze the performance of the classic NLDI, extended NLDI and NLDI with ANN augmentation under wind conditions. Results show that the NLDI with ANN augmentation outperforms the classic and extended NLDI controllers.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126963362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-11DOI: 10.1109/ICUAS.2019.8797879
Najett Neji, Tumader Mostfa
In this paper, we develop a generic approach to determine the best technology to carry the communication between an Unmanned Aerial Vehicle (UAV) and a ground control station (GCS). For this, we consider that the UAV is performing its task under nominal conditions. Based on related work, we select the most relevant criteria of interest. Then, we compare technologies performances in the 2.4 GHz and 5.8 GHz ISM bands, using a multi-criteria analysis. Technology assessment results depend on the use-case and the UAV scenario. In this work, we are focused on the precise agriculture (PA) use case, and we present the assessment results in both Visual Line of Sight (VLOS), Extended Visual Line of Sight (EVLOS), as well as Beyond Line of Sight (BVLOS) scenarios. The latter is very interesting because the communication UAV - GCS becomes of critical importance.
{"title":"Communication technology for Unmanned Aerial Vehicles: a qualitative assessment and application to Precision Agriculture","authors":"Najett Neji, Tumader Mostfa","doi":"10.1109/ICUAS.2019.8797879","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797879","url":null,"abstract":"In this paper, we develop a generic approach to determine the best technology to carry the communication between an Unmanned Aerial Vehicle (UAV) and a ground control station (GCS). For this, we consider that the UAV is performing its task under nominal conditions. Based on related work, we select the most relevant criteria of interest. Then, we compare technologies performances in the 2.4 GHz and 5.8 GHz ISM bands, using a multi-criteria analysis. Technology assessment results depend on the use-case and the UAV scenario. In this work, we are focused on the precise agriculture (PA) use case, and we present the assessment results in both Visual Line of Sight (VLOS), Extended Visual Line of Sight (EVLOS), as well as Beyond Line of Sight (BVLOS) scenarios. The latter is very interesting because the communication UAV - GCS becomes of critical importance.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133220941","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8797742
E. Paiva, J. Rodas, Y. Kali, R. Gregor, M. Saad
In this paper, a nonlinear controller for finite-time high-accuracy position and attitude tracking trajectory has been proposed for a tri-rotor unmanned aerial vehicle affected by disturbances. The proposed method is the super-twisting control algorithm supported by two closed-loop feedback regulation based on a proportional-integral-derivative switching surface. This algorithm is one of the most effective algorithms of second order sliding mode due to its robustness, high precision, finite-time convergence when the trajectories of the controlled system are far from the switching surface. The proposed controller also offers a chattering reduction or elimination, which is the main drawback of sliding mode controllers. Stability conditions are presented based on Lyapunov theory. Numerical simulations are performed on the considered tri-rotor to prove the efficiency of the proposed nonlinear method.
{"title":"Robust Flight Control of a Tri-Rotor UAV based on Modified Super-Twisting Algorithm","authors":"E. Paiva, J. Rodas, Y. Kali, R. Gregor, M. Saad","doi":"10.1109/ICUAS.2019.8797742","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797742","url":null,"abstract":"In this paper, a nonlinear controller for finite-time high-accuracy position and attitude tracking trajectory has been proposed for a tri-rotor unmanned aerial vehicle affected by disturbances. The proposed method is the super-twisting control algorithm supported by two closed-loop feedback regulation based on a proportional-integral-derivative switching surface. This algorithm is one of the most effective algorithms of second order sliding mode due to its robustness, high precision, finite-time convergence when the trajectories of the controlled system are far from the switching surface. The proposed controller also offers a chattering reduction or elimination, which is the main drawback of sliding mode controllers. Stability conditions are presented based on Lyapunov theory. Numerical simulations are performed on the considered tri-rotor to prove the efficiency of the proposed nonlinear method.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121820182","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798211
C. Capitán, J. Capitán, Á. Castaño, A. Ollero
This paper describes the application of the SORA (Specific Operational Risk Assessment) methodology to perform a risk assessment of an operation for aerial cinematography to be conducted with an autonomous small team of UAS developed in the EU-funded MULTIDRONE project. The purpose of applying SORA, which is the methodology developed by JARUS (Joint Authorities for Rule-making on Unmanned Systems), is to obtain regulatory approval to conduct these UAS flights for filming rowing/cycling races in rural scenarios. The paper goes through all steps in SORA, evaluating operational risks and discussing mitigation actions in the system. A positive evaluation is estimated for the operation proposed, which will ease technology transfer for the MULTIDRONE system and its future integration into airspace operations.
{"title":"Risk Assessment based on SORA Methodology for a UAS Media Production Application","authors":"C. Capitán, J. Capitán, Á. Castaño, A. Ollero","doi":"10.1109/ICUAS.2019.8798211","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798211","url":null,"abstract":"This paper describes the application of the SORA (Specific Operational Risk Assessment) methodology to perform a risk assessment of an operation for aerial cinematography to be conducted with an autonomous small team of UAS developed in the EU-funded MULTIDRONE project. The purpose of applying SORA, which is the methodology developed by JARUS (Joint Authorities for Rule-making on Unmanned Systems), is to obtain regulatory approval to conduct these UAS flights for filming rowing/cycling races in rural scenarios. The paper goes through all steps in SORA, evaluating operational risks and discussing mitigation actions in the system. A positive evaluation is estimated for the operation proposed, which will ease technology transfer for the MULTIDRONE system and its future integration into airspace operations.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125825632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798172
Erick Rodríguez-Hernández, J. I. Vasquez-Gomez, J. Herrera-Lozada
Drone racing presents a challenge to autonomous micro aerial vehicles (MAV) because usually the track is not known in advance and it is affected by the environment light. In such scenarios, the vehicle has to act quickly depending on the information provided by its sensors. In this work, we want to predict the movement of the drone so that it passes through a gate. Unlike previous approaches where the task is decomposed into perception, estimation, planning, and control, we are proposing a behavioral cloning approach. In this method, a convolutional neural network is trained with the flights of a human operator. So that the output of the trained network is directly the desired MAV state so that it leads the drone through the gate. We have tested the method using a validation set where we obtained a low loss. Furthermore, we have tested the trained network with unseen data obtaining promising results.
{"title":"Flying through Gates using a Behavioral Cloning Approach","authors":"Erick Rodríguez-Hernández, J. I. Vasquez-Gomez, J. Herrera-Lozada","doi":"10.1109/ICUAS.2019.8798172","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798172","url":null,"abstract":"Drone racing presents a challenge to autonomous micro aerial vehicles (MAV) because usually the track is not known in advance and it is affected by the environment light. In such scenarios, the vehicle has to act quickly depending on the information provided by its sensors. In this work, we want to predict the movement of the drone so that it passes through a gate. Unlike previous approaches where the task is decomposed into perception, estimation, planning, and control, we are proposing a behavioral cloning approach. In this method, a convolutional neural network is trained with the flights of a human operator. So that the output of the trained network is directly the desired MAV state so that it leads the drone through the gate. We have tested the method using a validation set where we obtained a low loss. Furthermore, we have tested the trained network with unseen data obtaining promising results.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117089116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798130
Weihong Yuan, L. Rodrigues
Real-time onboard flight trajectory generation is of great importance for all kinds of flying vehicles. This paper proposes a method to generate the trajectory which minimizes the damage due to flight motion to a fragile package. The proposed methodology has several potential applications including drone organ delivery. A similar procedure can also be used in applications where the objective is to maximize passenger comfort during flight. An analytical solution of the optimal trajectory generation problem is derived under arbitrary two-point boundary value constraints. An approach to solve for the optimal flight time is also proposed, which can be easily implemented on common embedded processors. The algorithm is extended to guarantee that a peak velocity constraint is verified. The effects of a parameter called the cost index on the optimal solution are also discussed. Examples show how the procedure can be used in a specific application.
{"title":"Onboard Generation of Optimal Flight Trajectory for Delivery of Fragile Packages","authors":"Weihong Yuan, L. Rodrigues","doi":"10.1109/ICUAS.2019.8798130","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798130","url":null,"abstract":"Real-time onboard flight trajectory generation is of great importance for all kinds of flying vehicles. This paper proposes a method to generate the trajectory which minimizes the damage due to flight motion to a fragile package. The proposed methodology has several potential applications including drone organ delivery. A similar procedure can also be used in applications where the objective is to maximize passenger comfort during flight. An analytical solution of the optimal trajectory generation problem is derived under arbitrary two-point boundary value constraints. An approach to solve for the optimal flight time is also proposed, which can be easily implemented on common embedded processors. The algorithm is extended to guarantee that a peak velocity constraint is verified. The effects of a parameter called the cost index on the optimal solution are also discussed. Examples show how the procedure can be used in a specific application.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"254 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117091466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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