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There are many advantages for having a formation flight of multiple Unmanned Aerial Vehicles (UAVs) over a single UAV. In this paper, a simple proposed formation flight algorithm is proposed. The algorithm consists of the path planning and the Hierarchical Leader-Follower algorithm. In the Hierarchal Leader-Follower formation, the leader has more a...
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Citations
... The leader-follower system for unmanned vehicles may be in high demand. There are many studies that consider systems consisting of several Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) which form a formation when following the leader [1][2][3]. Gopakumar and Shihabudheen considered the system with 1 leader and 6 followers, three of which are quadrotors, while the other 4 vehicles are two-wheeled mobile robots (2WMRs) [4]. ...
... Considerable diversity in the aerial robots is proposed in detail by [1]. Additionally, various scientific researhes on design, manufacturing and autonomous control of aerial robot have been currently investigated [2][3][4][5][6][7]. ...
In this article, autonomous flight performance of an unmanned aerial robot is advanced by benefiting
aerodynamic nose and tail cone shapes redesign both experimentally and computationally. For this
intention, aerodynamic performance criteria (i.e. maximum fineness) of a scaled model of autonomous
aerial robot called as Zanka-II manufactured at Erciyes University Faculty of Aeronautics and
Astronautics Model Aircraft Laboratory is first observed in subsonic Wind Tunnel. Results obtained in
such wind tunnel are subsequently validated using computational fluid dynamic (CFD) software (i.e.
Ansys). Therefore, nose and tail cone of fuselage are improved in order to improve maximum fineness
of the autonomous aerial robot. Finally, a novel scaled model using optimum data is redesigned and
placed in Wind Tunnel to validate Ansys results with experimental results. By using geometrical data of
ultimate aerodynamically optimized aerial robot, better autonomous flight performance is achieved in
both simulation environment (i.e. Matlab and Simulink) and real time flights.
... Distributed consensus was applied for agent coordination in [12], [13] and flight tested in [14], [15]. Consensus guided by a single leader is studied in [16], [17] and flight tested in [18], [19]. Cooperative control has been applied to unmanned aircraft system (UAS) teams for tasks such as surveillance [20], area surveys [21], and payload delivery [22]. ...
This paper experimentally evaluates continuum deformation cooperative control for the first time. Theoretical results are expanded to place a bounding triangle on the leader-follower system such that the team is contained despite nontrivial tracking error. Flight tests were conducted with custom quadrotors running a modified version of ArduPilot on a BeagleBone Blue in M-Air, an outdoor netted flight facility. Motion capture and an onboard inertial measurement unit were used for state estimation. Position error was characterized in single vehicle tests using quintic spline trajectories and different reference velocities. Five-quadrotor leader trajectories were generated, and followers executed the continuum deformation control law in-flight. Flight tests successfully demonstrated continuum deformation; future work in characterizing error propagation from leaders to followers is discussed.
... The SPSA Optimization Method has also been used in similar complex optimization problems ( [3], [4], [24]). This method is also economical because it requires calculating the gradient of the objective function only twice. ...
... This method is also economical because it requires calculating the gradient of the objective function only twice. However, this method is also successful in constrained optimization problems ( [3], [4]). Another important feature is that it is a predictionbased method, so it has a natural random so that it can find the best result in a few steps without sticking to a single point. ...
This study examines the effects of an unmanned aerial vehicle's flight control system on the longitudinal state-space model and active flow control mechanism on the wings that serve as the main carrier of aircrafts, by using the vortices that form on the wing due to the pressure difference between the wing bottom surface and the top surface. it is desired to achieve a better autonomous performance as a result of the simultaneous design of the active flow control mechanism which prevents the flow disturbances by blowing compressed air with the help of the air flow. For this purpose, four different blowing channels, symmetrically two for each wing, were determined and the changes in the performance of the straight flight were analyzed numerically by providing compressed air outflow from these areas at any time of flight. Fluent, which is a computational fluid dynamics program, was used for analysis. As UAVs' longitudinal state space model was obtained, automatic pilot block diagram was reached and modeled with MATLAB/Simulink. Then, using these data, the flow control and autopilot system for the UAV were simultaneously designed and the cost function was tried to be minimized by using SPSA which is an adaptive stochastic optimization method. As a result, improvements in flight performance have been observed by minimizing the cost function.
... Optimization studies can sometimes be about component material and sometimes shape design. Optimization studies improve fuel consumption by improving aerodynamic performance ( [2], [3], [4], [5]). Several studies have been done to optimize aerodynamic shape for better flight performance (eg [6]). ...
... Dihedral angle[3] ...
This study was carried out to optimize the connection of the
wing for an unmanned aerial vehicle capable of vertical landing and
departure can make aerodynamically more efficient flight. The
aerodynamic efficiency must be the best for aircraft can efficiently fly
and use the airflow in the best possible way. From this point of view, we
tried to increase the aerodynamic efficiency of our unmanned aerial
vehicle by trying different combinations of sweep angle, dihedral angle,
taper ratio and twisting angles.
In this study, an unmanned aerial vehicle capable of landing and
departing vertically (VTOL) was designed. The aircraft has 1 kg load
carrying capacity, 4 motors and a maximum weight of 4,5 kg. The
aircraft‘s body length is 1,45 m, the wing span is 1,3 m and the used wing
profile is SD7034.
Because the wing is a very important task in air vehicles, it has to be
designed and used in the most reasonable way. Factors that change the
aerodynamic efficiency, such as connection angles, high transport
vehicles or the use of moving wings, have been examined in this study in
terms of both positive and negative aspects. Inspection of the connection
points was numerically investigated in five different attack angles in the
Ansys Fluent program.
At the end of the study, the angle of the arrow between 0-8 degrees
was examined and it was seen that the best aerodynamic value was 0
degrees. Dihedral angle was also examined between 0 and 8 degrees and
optimum value at 0 degree was obtained. The torsion is twisted at 10°-
15°-20° and the 10 degree torsion gives the best value. Finally the torsion
ratio change is applied. At the tapering rate, the blade area is fixed and
the root is increased and the tip is reduced. In this case, the best
aerodynamic value gave the design of the wing obtained from 1.5 root
and 0.5 end vet according to the first case.
... For more UAV applications, Austin (2010) can be examined. Many scientific research on UAV design and control have been also conducted recently (Goetzendorf-Grabowski et al., 2006;Ding et al., 2013;Drak et al., 2014;Filippis et al., 2014;Higashino and Funaki, 2013;Wilburn et al., 2013;Hadi et al., 2014). ...
Purpose
The purpose of this paper is to increase flight performance of small unmanned aerial vehicle (UAV) using simultaneous UAV and autopilot system design.
Design/methodology/approach
A small UAV is manufactured in Erciyes University, College of Aviation, Model Aircraft Laboratory. Its wing and tail is able to move forward and backward in the nose-to-tail direction in prescribed interval. Autopilot parameters and assembly position of wing and tail to fuselage are simultaneously designed to maximize flight performance using a stochastic optimization method. Results are obtained are used for simulations.
Findings
Using simultaneous UAV and autopilot system design idea, flight performance is maximized.
Research limitations/implications
Permission of Directorate General of Civil Aviation in Turkey is required for testing UAVs in long range.
Practical implications
Simultaneous design idea is very beneficial for improving UAV flight performance.
Originality/value
Creating a novel method to improve flight performance of UAV and developing an algorithm performing simultaneous design idea.
... Many other aerial robot applications is examined in detail by [1]. Lots of scientific study for aerial robot design, manufacturing and autonmous control have been recently examined such as [2], [3], [4] and [5]. ...
The aim of this conference article is to improve flight performance of an autonomous aerial robot by applying aerodynamic nose shape optimization both experimentally and computationally. Aerodynamic performance criteria (i.e. maximum fines) of a scaled model of our autonomous aerial robot called as Zanka-II produced in Erciyes University Faculty of Aeronautics and Astronautics Model Aircraft Laboratory is first observed in sub-sonic Wind Tunnel. Results obtained are validated using a computational fluid dynamics software (i.e. Ansys). Nose cone of fuselage is optimized in order to maximize maximum fines of our autonomous aerial robot by using Ansys. A novel scaled model using optimum data is then produced and placed in Wind Tunnel in order to validate Ansys results with experimental results. By using geometrical data of eventual aerodynamically optimized aerial robot, better autonomous flight performance is found both in simulation environment (i.e. Matlab) and real time flights.
... So many scientific study for aerial robot design, manufacturing and autonomous control have been lately examined (e.g. [2], [3], [4], [5]). ...
The purpose of this conference article is to advance flight performance of an autonomous aerial robot via benefiting aerodynamic tailcone shape optimization experimentally and computationally. For this intention aerodynamic performance criteria (i.e. maximum fines) of a scaled model of our autonomous aerial robot named as Zanka-II manufactured in Erciyes University Faculty of Aeronautics and Astronautics Model Aircraft Laboratory is first examined in sub-sonic Wind Tunnel. Results found in this wind tunnel are validated using a computational fluid dynamics software package (i.e. Ansys). Tailcone of fuselage is optimized in order to maximize maximum fines of our autonomous aerial robot via applying Ansys. A novel scaled model using optimum data found by Ansys is then produced and placed in Wind Tunnel in order to validate computational results with experimental results. By using geometrical data of ultimate aerodynamically optimized aerial robot, improved autonomous flight performance is found both in simulation environment (i.e. Matlab and Simulink) and real time flights.
... Many scientific studies on UAV design and control have been also followed recently (e.g. Ding, Liu and Hsiao; 2013 [2]; Drak et al. 2014 [3]; Filippis, Guglieri, Quagliotti, 2014 [4]; Hadi et al. 2014 [5]). ...
