Flatness-based trajectory planning for a quadrotor Unmanned Aerial Vehicle test-bed considering actuator and system constraints

2012 ◽  
Author(s):  
A. Chamseddine ◽  
Tong Li ◽  
Youmin Zhang ◽  
C. A. Rabbath ◽  
D. Theilliol
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Test Bed ◽  
Aerial Vehicle ◽  
Vehicle Test

Optimized artificial potential field algorithm to multi-unmanned aerial vehicle coordinated trajectory planning and collision avoidance in three-dimensional environment

2019 ◽  
Vol 233 (16) ◽  
pp. 6032-6043 ◽  
Author(s):  
Jun Tang ◽  
Jiayi Sun ◽  
Cong Lu ◽  
Songyang Lao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Potential Field ◽  
Three Dimensional ◽  
Artificial Potential Field ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Vehicle Trajectory

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.

Tactical Trajectory Planning for Stealth Unmanned Aerial Vehicle to Win the Radar Game

2012 ◽  
Vol 62 (6) ◽  
pp. 375-381 ◽  
Author(s):  
Hongfu Liu ◽  
Shaofei Chen ◽  
Lincheng Shen ◽  
Jing Chen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Aerial Vehicle

scholarly journals Trajectory planning of quadrotor using sliding mode control with extended state observer

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1300-1308
Author(s):  
Jun Xiao
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Attitude Control ◽  
Sliding Mode ◽  
State Observer ◽  
Control Model ◽  
Extended State Observer ◽  
Extended State ◽  
Inner Model ◽  
Aerial Vehicle

This paper presents the trajectory planning of an under-actuated quadcopter unmanned aerial vehicle. To control the complete structure of the rotorcraft, the main model is divided into two sub-models, namely inner model and external model. The inner model is for the attitude control model controlled by the sliding mode controller and the outer model is altitude control model governed by the extended state observer. The quadrotor unmanned aerial vehicle is a type of multivariable, multi-degree-of-freedom and nonlinear in nature. Planning the trajectory of the unmanned aerial vehicle and stabilizing its flight are complex tasks because of its ability to maneuver quickly. Due to these stated issues, the tuning of this type of dynamic system is a difficult task. This paper deals with these issues by designing the aforementioned dual controller scheme. In addition, the effectiveness of the proposed controller is apparent in simulations performed in MATLAB, Simulink 2016. The designed controller shows better results and robustness than traditional controllers do.

Optimizing the lay-up of composite tapes based on improved geodesic strategy for automated tape placement

2017 ◽  
Vol 232 (22) ◽  
pp. 4084-4097
Author(s):  
Peng Zhang ◽  
Zhenhua Zhou ◽  
Gengbiao Chen ◽  
Shuhan Chen
Keyword(s):  
Composite Materials ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Planning Method ◽  
Limiting Factors ◽  
Manufacturing Costs ◽  
Complex Contour ◽  
Composite Tape ◽  
Aerial Vehicle ◽  
The Relationship

The use of composite materials in aerospace, automotive and ship industry allows manufacturing lighter and more efficient mechanical structures. The major limiting factors are the high-manufacturing costs and low-production rates. Automated tape placement is one alternative process to overcome the limiting factors. Due to the complex contour of the mandrel, the lay-up paths of the contiguous tapes are not parallel along their lengths, which eventually introduce gaps or overlaps between the edges of tapes. Overlaps and excessive gaps are undesirable as they will decrease the strength of the resulting composite member. In this paper, a novel trajectory planning method for automated tape placement, entitled improved geodesic strategy, is proposed. The strategy aims to optimize the relationship between adjacent tapes. At the same time, the distortion of composite tape is also specified in order to prevent wrinkling. The principle and characteristic of the algorithm are presented. The method is investigated on the airfoil of an unmanned aerial vehicle and some of the results are presented in this paper.

scholarly journals Trajectory Planning and Replanning Strategies Applied to a Quadrotor Unmanned Aerial Vehicle

2012 ◽  
Vol 35 (5) ◽  
pp. 1667-1671 ◽  
Author(s):  
Abbas Chamseddine ◽  
Youmin Zhang ◽  
Camille Alain Rabbath ◽  
Didier Theilliol
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Aerial Vehicle
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