Fig 5 - uploaded by Vladimir N Dobrokhodov
Content may be subject to copyright.
Source publication
This paper addresses the development of a cooperative control algorithm used to launch and recover a fleet of small UAV from a ship. The key features of the algorithm include trajectory generation for multiple UAV that accounts for their aerodynamic characteristics and guarantees deconfliction, particularly on final approach, and path following con...
Context in source publication
Context 1
... the vectorˆ{0vectorˆvectorˆ{0, 0,1} T n = z be a unit vector that points in the local up direction and let 1 p and 2 p denote positions of two points in the net expressed in {U} as shown in Fig.5. Then the unit vector that points along the main diagonal of the net is given by Let γ * determine the angle between the glideslope and the horizon (as shown in Fig.6), and let d specify the de- sired length of the glideslope. ...
Similar publications
Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of t...
With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For a swarm of UAVs, a safe operation can not be guaranteed without preventing the UAVs from colliding with one an...
Coal mining accounts for ~ 12 % of the total anthropogenic methane emissions worldwide. The Upper Silesian Coal Basin, Poland, where large quantities of CH4 are emitted to the atmosphere via ventilation shafts of underground hard coal (anthracite) mines, is one of the hot spots of methane emissions in Europe. However, coalbed CH4 emissions into the...
Unmanned aerial vehicles (UAV) are recently used to survey a diversity of wildlife status, including breeding colonies of seabirds, which provides empirical data of wildlife numbers and distributions with fewer disturbances. The Saunders's gull (Saundersilarus saundersi) is a colonially breeding seabird species on reclaimed lands near mudflats. It...
For an unmanned aerial vehicle (UAV) carrying out a maritime radar surveillance mission, there is a tradeoff between maximizing information obtained from the search area and minimizing fuel consumption. This paper presents an approach for the optimization of a UAV's trajectory for maritime radar wide area persistent surveillance to simultaneously m...
Citations
... Zudem ist das Täuschen von Radarstationen durch kleinere Gruppen von Drohnen, welche durch koordiniertes Flugverhalten ein größeres, sich in einer anderen Flughöhe befindliches Flugobjekt imitieren, Untersuchungsgegenstand [166,191,192,200,235]. Militärische Anwendung umfassen dazu das gemeinsame Angreifen von Zielen [17,23,34,107,135,172,322,325] bei gleichzeitiger Minimierung des Risikos der Erkennung durch Radarstationen [33] oder bei Minimierung der für den Angriff notwendigen Zeit [90]. Das Erstellen der nötigen Formationen [76][77][78]142] wird dabei ebenso bearbeitet wie das Auflösen der Formation [141,142]. ...
... Außerdem wird ein gleichzeitiges Erreichen von Zielpunkten [199] und das Abfliegen von unterschiedlichen Wegpunkten durch mehrere Drohnen [6,138] mit beschränktem Treibstoffvorrat [95] untersucht. Diese Drohnen könnten von einem Schiff losgeschickt werden und mithilfe eines aufgespannten Netzes wieder eingefangen werden [135]. Das gemeinsame Suchen [91,224,225,233,314,322,325,329] und Jagen [36] auch in Gefahrensituationen [71] sind ebenso wie das Patrouillieren [252], das Erkunden eines Areals [312] und ein Verfolgen eines beweglichen Ziels [15] in zerklüfteten Stadtschluchten [40] angegangene Aufgaben. ...
... Die Untersuchungen zu den zwei verbleibenden Anforderungen werden nachstehend einzeln beschrieben und ausgewertet. Starten & Landen auf Flugzeugträger [135] Patrouillieren eines Areals [252] Gebietserkundung [312] Unfallvermeidung von Flugzeugen [20] [249] [5] Anmerkung: Bei Quellen derselben Forschergruppe und desselben Inhalts wird lediglich eine Quelle in der Tabelle angegeben. So steht Quelle [246] auch für Quelle [247] und [245], Quelle [77] für Quelle [76] und [78], Quelle [137] für Quelle [136], Quelle [142] für Quelle [141], Quelle [192] für Quelle [191] und Quelle [225] für Quelle [224]. ...
Konfliktsituationen mit mehreren Beteiligten sind für Fahrzeugführer und konventionelle Fahrerassistenz- und Sicherheitssysteme durch ihre hohe Komplexität schwer beherrschbar. So geschehen viele Unfälle auf den Straßen dieser Welt, die durch gemeinschaftlich abgestimmte Fahrmanöver verhindert oder in ihren Unfallfolgen gemindert werden könnten. Die vorliegende Arbeit adressiert dieses Potenzial und beschäftigt sich mit der Entwicklung und prototypischen Umsetzung eines fahrzeugübergreifenden kooperativen Fahrerassistenz- und Sicherheitssystems, welches mehrere Fahrzeuge über eine funkbasierte Kommunikation miteinander verbindet, sowie unfallfreie Lösungen berechnet und durchführt. In diesem Zusammenhang werden drei Forschungsfragen aufgestellt, die eine Definition von kooperativem Verhalten, eine Methode zur Koordination der anfallenden Aufgaben (Aufgabenkoordination) und eine Methode zur gemeinsamen Fahrmanöverplanung (Fahrmanöverkoordination) adressieren. Der Stand der Wissenschaft und Technik bezüglich der Forschungsfragen wird mithilfe einer systematischen Literaturstudie ermittelt, die für den Leser in einem Überblick dargestellt und hinsichtlich einer möglichen Beantwortung der Forschungsfragen ausgewertet wird. Es zeigt sich, dass die drei Forschungsfragen mit ihren Anforderungen bislang unbeantwortet sind. Zur Definition von kooperativem Verhalten werden Eigenschaften von diesem aufgezeigt, die in notwendige und hinreichende Bedingungen überführt werden. Mit der zusätzlichen Berücksichtigung von Reziprozität ergibt sich eine Definition von kooperativem Verhalten, welche durch die Steigerung des Gesamtnutzens die Unterscheidung zwischen unkooperativem Verhalten auf der einen Seite und rational-kooperativem, altruistisch-kooperativem bzw. egoistisch-kooperativem Verhalten auf der anderen Seite ermöglicht. Ein Vergleich mit den aus dem Stand der Technik bekannten Definitionen zeigt den Neuigkeitswert der entwickelten Definition. In ausgewählten Situationen wird die Definition in Simulationen angewandt
... In net-based landing systems [2,3] the UAV is guided into a net, which has the advantage that landing can occur in a cluttered environment with too little space for traditional landing. It has however the disadvantage that landing can usually occur from one or two directions only. ...
Catastrophic damage to a fixed-wing unmanned aerial vehicle (UAV) is most likely to occur during the land-ing stage. In this paper an autonomous method for the landing of the UAV is proposed in which the UAV steers towards a large, multi-coloured, dome-shaped airbag via visual servoing. Images taken from a UAV-mounted cam-era were used to detect the dome with colour based de-tection methods. The image analysis portion operated at 4 frames per second. A controller was created for the proposed landing system and the method was validated in the FlightGear flight simulator. The paper includes simulation results and concludes that the vision-based dome-detection method is ready for implementation into a real UAV. Tuning of an autopilot controller based on the proposed visual servoing system is outside the scope of this paper. The integration of the proposed detection method into a UAV autopilot is underway.
... The problem is solved using a direct method where the trajectory candidates have been approximated using polynomial functions. Results of this method were later extended in references444546 to the case of time-critical UAV missions. In this paper, the problem of offline trajectory planning for small fixed wing UAVs is addressed. ...
This paper addresses the problem of offline trajectory planning for small fixed-wing unmanned aerial vehicles (UAVs) under various constraints and proposes a simple direct method to solve it. The dynamic behaviour of the UAV is modelled using the three-dimensional point-mass model which accounts for the most significant efforts acting on the system. Restrictions inherent to the system, the assigned task and the environment are also considered. In addition, various forms of the performance index such as minimum time or minimum power consumption are also included. In the proposed planner, trajectory candidates are represented using spline functions fitting a set of free control points. The best candidates are found by solving a nonlinear optimization problem using the sequential quadratic programming method. Numerical simulations corresponding to various tasks are presented to illustrate the efficiency of the proposed approach.
... Over the past several years, considerable effort has been put toward the development of small, long-endurance, and low-cost unmanned aerial vehicles (UAVs) with militarily significant payload capabilities. Manuscript For example, a small UAV initiative project was started by Program Executive Officer of the Secretary of the Navy for cruise missiles in 1998 ( [26], [24]). Afterward, the Naval Research Laboratory tested their helicopter UAV system ( [23]), and the Naval Surface Warfare Center developed a field compatible SWARM platform which utilized a heavy fueled engine, an on-board power supply, and an autonomous command and control system ( [15]). ...
This paper presents a method of geo-referencing the video data acquired by a small low-cost UAV, which is specifically designed as an economical, moderately functional, small airborne platform intended to meet the requirement for fast-response to time-critical events in many small private sectors or government agencies for the small areas of interest. The developed mathematical model for geo-locating video data can simultaneously solve the video camera's interior orientation parameter (IOP) (including lens distortion), and the exterior orientation parameters (EOPs) of each video frame. With the experimental data collected by the UAV at the established control field located in Picayune, Mississippi, the results reveal that the boresight matrix, describing the relationship between attitude sensor and video camera, in a low-cost UAV system will not be able to remain a constant. This result is inconsistent with the calibrated results from the previous airborne mapping system because the boresight matrix was usually assumed to be a constant over an entire mission in a traditional airborne mapping system. Thus, this paper suggests that the exterior orientation parameters of each video frame in a small low-cost UAV should be estimated individually. With the developed method, each video is geo-orthorectified and then mosaicked together to produce a 2-D planimetric mapping. The accuracy of the 2-D planimetric map can achieve 1-2 pixels, i.e., 1-2 m, when comparing with the 43 check points measured by differential GPS (DGPS) survey.
... The method allows for real-time computation of feasible trajectories and delivers near real-time suboptimal solutions subject to multidimensional constraints on control functions, initial and final conditions. Onboard implementation of this method is numerically inexpensive and has been proven to be robust in various applications and flight experiments [17][18][19] . ...
This paper addresses initial steps in the development and flight implementation of a
new metrics driven L1 adaptive flight control system. The work primarily focuses on (i)
definition of appropriate control driven metrics that account for the control surface failures;
(ii) tailoring a recently developed L1 adaptive controller to the design of adaptive
flight control systems that explicitly address these metrics in the presence of control surface
failures and dynamic changes under adverse flight conditions; (iii) development of a
flight control system for implementation of the resulting algorithms on board of a small UAV; and (iv) conducting a comprehensive flight test program that demonstrates performance of the developed adaptive control algorithms in the presence of failures. As an initial milestone,
the paper focuses on the adaptive flight system setup and initial efforts addressing the
ability of a commercial off-the-shelf autopilot with and without adaptive augmentation to
recover from abrupt control surface failures.
... Other formation flight approaches, focusing on fixed wing aircrafts, can be found in [4], [5] or [7]. In [14], control of a formation of fixed winged aircraft taking off and landing on a ship is studied. Control of a formation of a piloted aircraft in formation with an UAV was reported in [6], while [15] report formation flight of three miniature jet aircraft. ...
In this paper, we present a solution for formation flight and formation reconfiguration of unmanned aerial vehicles (UAVs). Based on a virtual leader approach, combined with an extended local potential field, the method is universal applicable by driving the vehicle’s auto pilot. The solution is verified, using a group of UAVs based on a simplified small scale helicopter, which is simulated in MATLABTM/SimulinkTM. As necessary for helicopters, the potential field approach is realized in 3D including obstacle and collision avoidance. The collision avoidance strategy could be used separately for the sense and avoid problem.
... Over the past several years, considerable effort has been put toward the development of small, long-endurance, and low-cost unmanned aerial vehicles (UAVs) with militarily significant payload capabilities. Manuscript For example, a small UAV initiative project was started by Program Executive Officer of the Secretary of the Navy for cruise missiles in 1998 ( [26], [24]). Afterward, the Naval Research Laboratory tested their helicopter UAV system ( [23]), and the Naval Surface Warfare Center developed a field compatible SWARM platform which utilized a heavy fueled engine, an on-board power supply, and an autonomous command and control system ( [15]). ...
In recent years, many civil users have been interested in unmanned aerial vehicle (UAV) for a verity of different applications, such as quick response to time-critical event, traffic monitoring and traffic data collection because they have the ability to cover a large area, focus resources on the current problems, travel at higher speeds than ground vehicles, and are not restricted to traveling on the road network. All of these applications require a real-time orthorectification of the image flow acquired by UAV. This paper presents a method for real-time UAV orthovideo generation. The major contributions in this paper contain, video image matching to find tie points for merging dynamic, narrow field-of-view aerial video into a mosaic orthoimage, and a simple and fast algorithm for orthoimage. Finally, a real-time mosaic algorithm was developed.
... It may be necessary to generate large amounts of rotation of the vehicle to obtain this condition of sufficient controllability. See [44, 5, 4] for more details. ...
The theme of "low-cost navigation", characterized by transferring performance from sensors to data fusion and control algorithms, is a central theme for many military applications, in particular those related to light troops. Using inertial or magnetic sensors from the MEMS category, along with civilian GPS, optimizes weight, size and energy consumption. As will be demonstrated, this approach requires application-specific guidance navigation and control algorithms to compensate for the relatively poor quality of the sensor signals. In this thesis, we consider three scenarios of interest and develop innovative techniques for guidance and navigation. First, we consider the case of a ground vehicle equipped with proximity sensors, a gyroscope, odometers and a GPS. Experimentally, we implement an algorithm for obstacle avoidance for which we establish a proof of convergence, and an offline path-planning algorithm that is complemented by a dynamic feedback controller and a non-linear state estimator. Then, we investigate the case of an unstable helicopter. We develop and implement algorithms within a real-time control system that we designed specifically for computational and estimation tasks. The state estimator includes a model of the flight dynamics, and uses data from inertial sensors, a barometer, and a GPS to serve as input for a closed-loop controller. The parameters of the model are identified accurately by using data obtained during experimental flights. Eventually, we shall perform autonomous hovering flights, which stress the performance of the system. Finally, we consider the problem of a pedestrian walking inside buildings. The heading estimation errors observed using various platforms (both ground and aerial) suggest a new use of the magnetic field, and we propose to derive information by inspecting its gradients. We explain how to use (unknown) disturbances of the magnetic field to improve the position estimate in inertial navigation. Experimental results emphasize the relevance of the approach.
... This paper builds on the results obtained earlier. In particular, in [5] Yakimenko, et.al. extended the work presented in [6] for autonomous shipboard landing of UAVs and applied it to schedule sequential recovery of UAVs using direct method [12] to select a suboptimal solution. ...
This paper presents a preliminary framework for generating spatially deconflicted paths for multiple UAVs using Bezier curves. The critical issue addressed is that of guaranteeing that all the paths lie inside a pre-defined airspace volume. Its is shown that Bezier curves reperesent a natural tool for meeting this requirement. The paper reviews the essential properties of the Bezier curves that are used to guarantee spatial deconfliction between the UAV paths as well as airspace volume contsraints. The generated curves are not only non-overlapping but separated by a minimum distance chosen prior to flight. It is then shown that the path generation problem can be formulated as a constrained optimization problem over a finite optimization set and solved using standard MATLAB optimization tools. Simulation results are presented along with its discussion. The paper includes an analysis of numerical solutions obtained as well as discussion of future work.
... Unmanned Autonomous Vehicles (UAVs) are emerging as a breakthrough technology for numerous applications in manufacturing, military, environment monitoring, infrastructure monitoring, and so on [55], [56], [57]. These applications involve a functionality (behavior) that must be achieved under strict constraints (e.g., deadlines, precision, safety, energy resources, etc.), and optimized costs, such as the value (utility) of the achieved objectives, the time required to meet the objectives, and the spent energy. ...
... UAVs sense the environment through a rich set of sensors and compute a response that is delivered through various actuators, including those used for moving. UAVs perform a large set of activities, including the computations of trajectories and iden-tification of the control values for travelling along a trajectory, signal sampling and processing (including image processing), communication with other UAVs as well as specific activities, such as target detection, handling and assessment [60], [61], [62], [57]. ...
... In many situations, UAVs must often operate collaboratively, so that complex activities can be undertaken jointly by a group of UAVs [55], [56], [57], [63], [64]. ...
