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In Flight Trajectory Planning And Guidance For Autonomous Parafoils
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Book Synopsis In-flight Trajectory Planning and Guidance for Autonomous Parafoils by : Branden James Rademacher
Download or read book In-flight Trajectory Planning and Guidance for Autonomous Parafoils written by Branden James Rademacher and published by . This book was released on 2009 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: In-flight trajectory planning and guidance for autonomous parafoils.
Book Synopsis Analytic Chance Constraints for the Robust Guidance of Autonomous Parafoils by : Aaron Cole Ellertson
Download or read book Analytic Chance Constraints for the Robust Guidance of Autonomous Parafoils written by Aaron Cole Ellertson and published by . This book was released on 2015 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomously guided parafoil systems can deliver supplies and aid to remote, geographically diverse locations, while providing important safety and logistical advantages over ground-based transportation methods. A key challenge facing modern airborne delivery systems, such as parafoils, is the ability to accurately and consistently deliver supplies into difficult, complex terrain. Parafoil guidance algorithms must be able to generate feasible trajectory solutions to the target location within highly constrained terrain environments and from a wide range of initial conditions. Robustness is critical for successful payload delivery in the presence of uncertain atmospheric wind disturbances. This thesis presents two online trajectory planning algorithms for autonomous parafoil guidance in complex terrain and wind environments. These -algorithms are capable of operating from arbitrary initial conditions, including altitude, and are robust to wind disturbances that may be highly dynamic throughout terminal descent. The first algorithm, known as Analytic CC-RRT, builds upon the framework of chance-constrained rapidly-exploring random trees (CC-RRT). This planner enables fast incremental trajectory construction in cluttered, non-convex environments, while using chance constraints to ensure probabilistic feasibility. The designed cost-to-go function prioritizes target accuracy and upwind landings through the selection of partial paths that intelligently consider current and reachable future states. A trained multi-class wind uncertainty model is introduced to classify and anticipate the effect of future wind disturbances online. Utilizing this model, robustness to wind variations is achieved via a novel analytic uncertainty sampling technique, allowing the probability of constraint violation to be efficiently evaluated against arbitrary and aggressive terrain. The second algorithm, known as CC-BLG, incorporates the Analytic CC-RRT proactive wind model and uncertainty sampling technique into the optimized Band- Limited Guidance (BLG) framework. Through the design of a novel risk-based objective function, CC-BLG trajectories efficiently balance the parafoil performance metrics of landing accuracy and landing speed with the risk of off-nominal terrain collisions caused by future wind disturbances. Proposed extensions to the analytic uncertainty sampling technique are shown to yield enhanced planning robustness by refining the estimation of trajectory risk. Multi-phase CC-BLG path planning enables initialization of parafoil terminal guidance from potentially high altitudes, while discrete reachability set approximation is used to maintain robust obstacle avoidance over disjoint planning horizons. Extensive Monte Carlo simulation analysis demonstrates that the Analytic CCRRT and CC-BLG algorithms achieve significant improvements in mean and worst-case landing accuracy within complex terrain scenarios relative to the state-of-the-art Band-Limited Guidance (BLG) algorithm. Flight test experiments conducted with a full-scale UltraFly parafoil system confirm that the more computationally efficient CC-BLG algorithm is capable of robust parafoil guidance and precision landings subject to real-world testing conditions, hardware limitations, and challenging terrain environments.
Book Synopsis Autonomous Trajectory Planning and Guidance Control for Launch Vehicles by : Zhengyu Song
Download or read book Autonomous Trajectory Planning and Guidance Control for Launch Vehicles written by Zhengyu Song and published by Springer Nature. This book was released on 2023-04-15 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book highlights the autonomous and intelligent flight control of future launch vehicles for improving flight autonomy to plan ascent and descent trajectories onboard, and autonomously handle unexpected events or failures during the flight. Since the beginning of the twenty-first century, space launch activities worldwide have grown vigorously. Meanwhile, commercial launches also account for the booming trend. Unfortunately, the risk of space launches still exists and is gradually increasing in line with the rapidly rising launch activities and commercial rockets. In the history of space launches, propulsion and control systems are the two main contributors to launch failures. With the development of information technologies, the increase of the functional density of hardware products, the application of redundant or fault-tolerant solutions, and the improvement of the testability of avionics, the launch losses caused by control systems exhibit a downward trend, and the failures induced by propulsion systems become the focus of attention. Under these failures, the autonomous planning and guidance control may save the missions. This book focuses on the latest progress of relevant projects and academic studies of autonomous guidance, especially on some advanced methods which can be potentially real-time implemented in the future control system of launch vehicles. In Chapter 1, the prospect and technical challenges are summarized by reviewing the development of launch vehicles. Chapters 2 to 4 mainly focus on the flight in the ascent phase, in which the autonomous guidance is mainly reflected in the online planning. Chapters 5 and 6 mainly discuss the powered descent guidance technologies. Finally, since aerodynamic uncertainties exert a significant impact on the performance of the ascent / landing guidance control systems, the estimation of aerodynamic parameters, which are helpful to improve flight autonomy, is discussed in Chapter 7. The book serves as a valuable reference for researchers and engineers working on launch vehicles. It is also a timely source of information for graduate students interested in the subject.
Book Synopsis Robust Planning for Autonomous Parafoil by : Ian J. Sugel
Download or read book Robust Planning for Autonomous Parafoil written by Ian J. Sugel and published by . This book was released on 2013 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parafoil trajectory planning systems must be able to accurately guide the highly non-linear, under-actuated parafoil system from the drop zone to the pre-determined impact point. Parafoil planning systems are required to navigate highly complex terrain scenarios, particularly in the presence of an uncertain and potentially highly dynamic wind environment. This thesis develops a novel planning approach to parafoil terminal guidance. Building on the chance-constrained rapidly exploring random tree (CC-RRT) [1] algorithm, this planner, CC-RRT with Analytic Sampling, considers the non-linear dynamics, as well as the under-actuated control authority of the parafoil by construction. Additionally, CC-RRT with Analytic Sampling addresses two important limitations to state-of-the-art parafoil trajectory planners: (1) implicit or explicit constraints on starting altitude of the terminal guidance phase, and (2) a reactive or limitedly-proactive approach to handling the eect of wind uncertainty. This thesis proposes a novel formulation for the cost-to-go function, utilizing an approximation of the reachability set for the parafoil to account for the eect of vehicle heading on potential future states. This cost-to-go function allows for accurate consideration of partially planned paths, effectively removing strict constraints on starting altitude of the terminal guidance phase. The reachability set cost-to-go function demonstrates considerably improved performance over a simple LQR cost function, as well as cost-to-go functions with a glide-slope cone bias, demonstrating the eectiveness of utilizing the reachability set approximation as a means for incorporating heading dynamics. Furthermore, this thesis develops a multi-class model for characterizing the uncertain effect of wind. The wind model performs an online classication based on the observed wind measurements in order to determine the appropriate level of planner conservatism. Coupling this wind model with the method for sampling the analytic uncertainty distribution presented in this thesis, the CCRRT with Analytic Sampling planner is able to eciently account for the future eect of wind uncertainty and adjust trajectory plans accordingly, allowing the planner to operate in arbitrary terrain configurations without issue. CC-RRT with Analytic Sampling performs exceptionally well in complex terrain scenarios. Simulation results demonstrate signicant improvement on complex terrain relative to the state-of-the-art Band-Limited Guidance (BLG) [2], drastically reducing the worst case and average target miss distances. Simulation results demonstrate the CC-RRT with Analytic Sampling algorithm remains un-affected as terrain complexity increases, making it an ideal choice for applications where difficult terrain is an issue, as well as missions with targets with drastically dierent terrain conditions. Moreover, CC-RRT with Analytic Sampling is capable of starting terminal guidance at significantly higher altitudes than conventional approaches, while demonstrating no signicant change in performance.
Book Synopsis Issues in Robotics and Automation: 2011 Edition by :
Download or read book Issues in Robotics and Automation: 2011 Edition written by and published by ScholarlyEditions. This book was released on 2012-01-09 with total page 1332 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues in Robotics and Automation / 2011 Edition is a ScholarlyEditions™ eBook that delivers timely, authoritative, and comprehensive information about Robotics and Automation. The editors have built Issues in Robotics and Automation: 2011 Edition on the vast information databases of ScholarlyNews.™ You can expect the information about Robotics and Automation in this eBook to be deeper than what you can access anywhere else, as well as consistently reliable, authoritative, informed, and relevant. The content of Issues in Robotics and Automation: 2011 Edition has been produced by the world’s leading scientists, engineers, analysts, research institutions, and companies. All of the content is from peer-reviewed sources, and all of it is written, assembled, and edited by the editors at ScholarlyEditions™ and available exclusively from us. You now have a source you can cite with authority, confidence, and credibility. More information is available at http://www.ScholarlyEditions.com/.
Book Synopsis Journal of Guidance, Control, and Dynamics by :
Download or read book Journal of Guidance, Control, and Dynamics written by and published by . This book was released on 2009 with total page 954 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Optimal Control for Terminal Guidance of Autonomous Parafoils by :
Download or read book Optimal Control for Terminal Guidance of Autonomous Parafoils written by and published by . This book was released on 2009 with total page 22 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper deals with the development of guidance, navigation and control algorithms for a prototype of a miniature aerial delivery system capable of high-precision maneuvering and high touchdown accuracy. High accuracy enables use in precision troop resupply, sensor placement, urban warfare reconnaissance, and other similar operations. Specifically, this paper addresses the terminal phase, where uncertainties in winds cause most of the problems. The paper develops a six degree-of-freedom model to adequately address dynamics and kinematics of the prototype delivery system and then reduces it to a two degrees-of-freedom model to develop a model predictive control algorithm for reference trajectory tracking during all stages. Reference trajectories are developed in the inertial coordinate frame associated with the target. The reference trajectory during terminal guidance, just prior to impact, is especially important to the final accuracy of the system. This paper explores an approach for generating reference trajectories based on the inverse dynamics in the virtual domain. The method results in efficient solution of a two-point boundary-value problem onboard the aerial delivery system allowing the trajectory to be generated at a high rate, mitigating effects of the unknown winds. This paper provides derivation of the guidance and control algorithms and present analysis through simulation.
Book Synopsis Civil Airliner Flight Guidance Technology for Four-Dimensional Trajectory-Based Operation by : Guangwen Li
Download or read book Civil Airliner Flight Guidance Technology for Four-Dimensional Trajectory-Based Operation written by Guangwen Li and published by Springer. This book was released on 2024-10-02 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on achieving precision guidance and timely arrival in flight. The content comprehensively describes the civil aircraft flight guidance technology for four-dimensional trajectory-based operation. The main content of this book is the summary of the author's team's research work on flight management systems and flight guidance technology over the past decade, including flight plan analysis and transition path construction, four-dimensional trajectory planning and re-planning, high-precision flight guidance commands calculation, FMS landing system, etc. The theoretical methods described in the book have been verified by pre-research and practical engineering projects, which are of great theoretical significance and engineering application value. This book is used as a reference for engineers engaged in flight control, flight guidance, and flight management research, as well as Masters and Ph.Ds. in related disciplines.
Book Synopsis Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems by :
Download or read book Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems written by and published by . This book was released on 2006 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicle and smart munition systems need robust, real-time path generation and guidance systems to avoid terrain obstructions, navigate in hazardous weather conditions, and react to mobile threats such as radar, jammers, and unfriendly aircraft. In Phase 1 of this STTR project, real-time path planning and trajectory generation techniques for two dimensional flight were developed and demonstrated in software simulation. In Phase 2 these algorithms were refined, extended and were demonstrated in flight on a unique low-cost micro-air vehicle with a payload which included three optical flow sensors, a laser ranger, and a video camera. This report is a comprehensive technical summary of the significant work completed in Phase 2 to enable development of autonomous flight control systems which are capable of accomplishing the complex task of path and trajectory planning in dynamic and uncertain environments.
Book Synopsis Cooperative Path Planning of Unmanned Aerial Vehicles by : Antonios Tsourdos
Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by Progress in Astronautics and A. This book was released on 2011 with total page 0 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.Include chapters on path planning, 3-D path planning, cooperative path planning, path planning in complex environments as well as guidance for accurate path following and sense and avoid algorithms to deal with collision avoidanceApproaches the solution to UAV path planning via two phases: producing paths to meet curvature constraints - the flyable paths, and then tuning the flyable paths to meet the mission demandsDescribes flyable path approaches using composite curves using Dubins and Clothoid principles, and continuous curves using Pythagorean Hodograph principles; and extends these approaches to cater for the complex problem of obstacle avoidance.?
Book Synopsis Proceedings of 2016 Chinese Intelligent Systems Conference by : Yingmin Jia
Download or read book Proceedings of 2016 Chinese Intelligent Systems Conference written by Yingmin Jia and published by Springer. This book was released on 2016-09-21 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings present selected research papers from CISC’16, held in Xiamen, China. The topics include Multi-agent system, Evolutionary Computation, Artificial Intelligence, Complex systems, Computation intelligence and soft computing, Intelligent control, Advanced control technology, Robotics and applications, Intelligent information processing, Iterative learning control, Machine Learning, and etc. Engineers and researchers from academia, industry, and government can get an insight view of the solutions combining ideas from multiple disciplines in the field of intelligent systems.
Book Synopsis Autonomous Object Avoidance Trajectory Planning for Unpowered Flight Vehicles by : Paul David Darrah
Download or read book Autonomous Object Avoidance Trajectory Planning for Unpowered Flight Vehicles written by Paul David Darrah and published by . This book was released on 1999 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Optimal Sampling-Based Trajectory Planning For Autonomous Systems in Urban Environments by : Mitchell Lichocki
Download or read book Optimal Sampling-Based Trajectory Planning For Autonomous Systems in Urban Environments written by Mitchell Lichocki and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motivated by autonomous aerial vehicles, this thesis provides a methodology for optimal trajectory planning of affine systems in non-convex environments. The resulting approximation of the optimal trajectory can then be provided to a flight controller as a reference trajectory, which compares the actual state of the system with the reference trajectory and performs the necessary control input corrections. More specifically, a modified trajectory planner inspired by Kinodynamic RRT* is presented to solve optimal control problems for input constrained affine systems with non-convex state spaces. As a result, if a solution is obtained then the solution is guaranteed to verify the state and control input constraints of the problem. Additionally, a randomized sampler function is proposed for Kinodynamic RRT* using a Gaussian distribution across the system's state space. When the distribution is adequately sized lower cost approximate solutions of the optimal trajectory problem is obtained in less computation time when compared with other methods in the literature. The results are successfully applied to optimal control problems for an affine double integrator with drift that is subject to a maximum control input magnitude in non-convex environments.
Book Synopsis Optimal Wind Corrected Flight Path Planning for Autonomous Micro Air Vehicles by : Michael D. Zollars
Download or read book Optimal Wind Corrected Flight Path Planning for Autonomous Micro Air Vehicles written by Michael D. Zollars and published by . This book was released on 2007 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Army Logistician written by and published by . This book was released on 1998 with total page 736 pages. Available in PDF, EPUB and Kindle. Book excerpt: The official magazine of United States Army logistics.
Book Synopsis Safe Trajectory Planning Techniques for Autonomous Air Vehicles by : Waseem Ahmed Kamal
Download or read book Safe Trajectory Planning Techniques for Autonomous Air Vehicles written by Waseem Ahmed Kamal and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Aerial Robotics in Agriculture by : K. R. Krishna
Download or read book Aerial Robotics in Agriculture written by K. R. Krishna and published by CRC Press. This book was released on 2021-04-15 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: This important volume provides a plethora of information on aerial vehicles and their possible roles in revolutionizing agricultural procedures through spectral analysis of terrains, soils, crops, water resources, diseases, floods, drought, and farm activities. There are several semi-autonomous and autonomous (robotic) aerial vehicles that are examined for their efficiency in offering detailed spectral data about agrarian regions and individual farms. Among them, small drone aircrafts such as fixed-winged and copter models have already caught the imagination of farmers. They are spreading fast in every nook and corner of the farm world. However, there are many more aerial robots that are utilized in greater detail during farming. In this volume, the focus is on aerial vehicles such as parafoils, blimps, aerostats, and kites, and how they are being evaluated for use in experimental farms and fields. A few aerial vehicles, such as robotic parafoils, have been adopted to procure aerial spectral data and visual imagery to aid agronomic procedures. These and other aerial robots are expected to change and improve the use of the sky in agricultural endeavors and the way we conduct agronomic procedures in the very near future. This volume is a timely resource for agricultural researchers, professors and students, and the general public who are interested in aerial vehicles.
