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Author : Michael D. Zollars
Publisher :
ISBN 13 :
Total Pages : 210 pages
Book Rating : 4.:/5 (181 download)
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:
Author :
Publisher :
ISBN 13 :
Total Pages : 71 pages
Book Rating : 4.:/5 (226 download)
Download or read book A Heuristic Flight Path Planner for a Small UAV Attempting to Find a Single Target in Minimum Time written by and published by . This book was released on 2007 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: The work presented here is a part of ongoing research into flight path planning for autonomous fixed wing aircraft. The problem of a single Unmanned Aerial Vehicle attempting to find a single stationary target in minimum time is examined. The problem is tailored to a specific type of UAV i.e. a low cost high maneuverability propeller driven fixed wing aircraft of wingspan 2-20 meters. The objective area to be searched for the target is split into cells the size of the area occupied by the target and occupancy probabilities for each cell are assigned. A methodology for extending the problem to the case of a target that moves but is constrained to move only in the objective area is presented. The search problem is set up as an infinite horizon optimization problem. The problem is converted to a finite horizon shortest path problem. The NP hard shortest path problem is then solved using a two step look ahead heuristic algorithm, which ultimately yields an approximately optimal solution of the search problem itself. Finally simulation results are presented which show the heuristic algorithm generated path's efficacy compared to a zigzag path and a path generated by a greedy algorithm.
Author : Sergey Shkarayev
Publisher :
ISBN 13 :
Total Pages : 108 pages
Book Rating : 4.:/5 (467 download)
Download or read book Autonomous Micro Air Vehicles with Hovering Capabilities written by Sergey Shkarayev and published by . This book was released on 2009 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this project was investigated novel concepts of micro aerial vehicles (MAVs) with vertical takeoff and landing capabilities. Two fixed-wing MAV configurations were tested in a wind tunnel. These concepts were a tilt-wing concept MAV by two non-coaxial counter-rotating propellers and a tilt-body concept based on coaxial motors and counter-rotating propellers. Values of thrust, torque, power, and efficiency were measured for these concepts. The development of an automatic control system and the investigation of the flight dynamics of the VTOL MAV during the hovering phase of flight were undertaken for the second stage of the project. The second focus of the project was on the development of a dynamic model for a flapping-wing air vehicle (ornithopter) and on the identification of the model parameters for this vehicle using in-flight data. The system identification procedure is proposed based on the value of a scalar objective function in the least squares sense. Finally, the ornithopter was equipped with an automatic control system that provides stability augmentation and navigation of the vehicle and flight data acquisition. Wind tunnel tests were conducted with the control surfaces fixed in neutral position and the flapping motion of the wings activated by a motor at a constant throttle setting. Coefficients of a lift, drag, and pitching moment were determined. The report is organized in six chapters comprised of papers published during the course of the project.
Author : Brent K. Robinson
Publisher :
ISBN 13 :
Total Pages : 334 pages
Book Rating : 4.:/5 (122 download)
Download or read book An Investigation Into Robust Wind Correction Algorithms for Off-the-shelf Unmanned Aerial Vehicle Autopilots written by Brent K. Robinson and published by . This book was released on 2006 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (946 download)
Download or read book Evolutionary Path Planning for Autonomous Air Vehicles Using Multiresolution Path Representation written by and published by . This book was released on 2000 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is a recognized need for automated path planning for unmanned air vehicles (UAVs) and guided munitions. Evolutionary programming approaches provide an alternative to classical functional optimization methods with the capability of incorporating a variety of optimization goals, while tolerating vehicle constraints. In this work, we introduce an evolutionary flight path planning algorithm capable of mapping paths for free-flying vehicles functioning under several aerodynamic constraints. An air-to-ground targeting scenario was selected to demonstrate the algorithm. The task of the path planner was to generate inputs flying a munition to a point where it could fire a projectile to eliminate a ground target. Vehicle flight constraints, path destination, and final orientation were optimized through fitness evaluation and iterative improvement of generations of candidate flight paths. Evolutionary operators comprised of one crossover operation and six mutation operators. Several cases for air-to-ground vehicle targeting have been successfully executed by the evolutionary flight path planning algorithm under challenging initial conditions. A feasible path is typically found rapidly (
Author :
Publisher :
ISBN 13 :
Total Pages : 91 pages
Book Rating : 4.:/5 (318 download)
Download or read book On-Line Trajectory Optimization for Autonomous Air Vehicles written by and published by . This book was released on 2007 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: Successful operation of next-generation unmanned air vehicles will demand a high level of autonomy. Autonomous low-level operation in a complex environment dictates a need for onboard, robust, reliable and efficient trajectory optimization. In this report, we develop and demonstrate an innovative combination of traditional analytical and numerical solution procedures to produce efficient, robust and reliable means for nonlinear flight path optimization in the presence of time-varying obstacles and threats. The trajectory generation problem is first formulated as an optimization problem using reduced-order dynamics that result from the natural time-scale separation that exists in the aircraft dynamics. Terrain information is incorporated directly into the formulation of the reduced-order dynamics, which significantly reduces the computational load and leads to a path planning solution that can be implemented in real-time. Various cases of terrain, pop-up obstacles/threats, and targets are simulated. A representative optimal trajectory is generated with in a high fidelity full-order nonlinear aircraft dynamics and compared with a solution obtained from a reduced-order optimization. The developed algorithm is flight demonstrated with a fixed-wing unmanned aircraft test-bed in which a neural network-based adaptive autopilot is integrated with the on-line trajectory optimization algorithm.
Author : Clifford A. Whitfield
Publisher :
ISBN 13 :
Total Pages : 91 pages
Book Rating : 4.:/5 (539 download)
Download or read book An Adaptive Dual-optimal Path-planning Technique for Unmanned Air Vehicles with Application to Solar-regenerative High Altitude Long Endurance Flight written by Clifford A. Whitfield and published by . This book was released on 2009 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: The characteristics of solar flux and the dependence on the surface location and orientation were established along with fixed flight maneuvers for the SR-HALE UAV. A sustained turn circle flight pattern, common for vehicles in loiter was selected as a baseline for comparisons.
Download or read book Illustrated Guide to Towcester and District written by and published by . This book was released on 1961 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 5 pages
Book Rating : 4.:/5 (318 download)
Download or read book Vision-Based Control of Agile, Autonomous Micro Air Vehicles and Small UAVs in Urban Environments written by and published by . This book was released on 2007 with total page 5 pages. Available in PDF, EPUB and Kindle. Book excerpt: This project investigated technologies to enable autonomous flight of agile vehicles in urban environments. Specifically, technologies were developed that related to vision-based feedback for control. The mission profile under consideration was a single vehicle carrying a video camera while flying below the rooftops of a city with no additional sensors or pre-existing map information. As such, substantial progress was made in the areas of feature-point tracking, state estimation, scene reconstruction, robustness to camera calibration, daisy-chaining navigation, mapping, path planning, and feedback characterization. An integrated approach was used that (be used on multi-disciplinary analysis for decision making and control commands. The project spiraled the maturation of technologies from theory to simulation to flight testing. The simulation relied upon a hardware-in-the-loop simulation facility that allowed the physical camera to record measurements from high-fidelity graphics and thus consider the effects of distortion and nonlinearities.
Author : National Aeronautics and Space Administration (NASA)
Publisher : Createspace Independent Publishing Platform
ISBN 13 : 9781720602118
Total Pages : 68 pages
Book Rating : 4.6/5 (21 download)
Download or read book Integration of an Autopilot for a Micro Air Vehicle written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-06 with total page 68 pages. Available in PDF, EPUB and Kindle. Book excerpt: Two autopilots providing autonomous flight capabilities are presented herein. The first is the Pico-Pilot, demonstrated for the 12-inch size class of micro air vehicles. The second is the MicroPilot MP2028(sup g), where its integration into a 36-inch Zagi airframe (tailless, elevons only configuration) is investigated and is the main focus of the report. Analytical methods, which include the use of the Advanced Aircraft Analysis software from DARCorp, were used to determine the stability and control derivatives, which were then validated through wind tunnel experiments. From the aerodynamic data, the linear, perturbed equations of motion from steady-state flight conditions may be cast in terms of these derivatives. Using these linear equations, transfer functions for the control and navigation systems were developed and feedback control laws based on Proportional, Integral, and Derivative (PID) control design were developed to control the aircraft. The PID gains may then be programmed into the autopilot software and uploaded to the microprocessor of the autopilot. The Pico-Pilot system was flight tested and shown to be successful in navigating a 12-inch MAV through a course defined by a number of waypoints with a high degree of accuracy, and in 20 mph winds. The system, though, showed problems with control authority in the roll and pitch motion of the aircraft: causing oscillations in these directions, but the aircraft maintained its heading while following the prescribed course. Flight tests were performed in remote control mode to evaluate handling, adjust trim, and test data logging for the Zagi with integrated MP2028(sup g). Ground testing was performed to test GPS acquisition, data logging, and control response in autonomous mode. Technical difficulties and integration limitations with the autopilot prevented fully autonomous flight from taking place, but the integration methodologies developed for this autopilot are, in general, applicable for unmanned air vehicles within the 36-inch size class or larger that use a PID control based autopilot.
Author : Gil Nachmani
Publisher :
ISBN 13 :
Total Pages : 61 pages
Book Rating : 4.:/5 (269 download)
Download or read book Minimum-energy Flight Paths for UAVs Using Mesoscale Wind Forecasts and Approximate Dynamic Programming written by Gil Nachmani and published by . This book was released on 2007 with total page 61 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Fuel or battery consumption of unmanned aerial vehicles (UAVs) can be improved by utilizing or avoiding air currents. This thesis adopts a network modeling approach to formulate the problem of finding minimum energy flight paths. The relevant airspace is divided into small regions using a grid of nodes, inter-connected by arcs. A function, representing energy cost, is defined on every arc in terms of the solution of a constrained nonlinear program for the optimal local airspeed to fly in a given wind field. Then, shortest-path models are implemented on the network to find the optimal paths from an origin to a destination. Five models are studied and they correspond to cases of pre-planning of flight routes and dynamic updating of routes during the course of the flight."--P. i.
Author : Randal W. Beard
Publisher : Princeton University Press
ISBN 13 : 1400840600
Total Pages : 317 pages
Book Rating : 4.4/5 (8 download)
Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
Author :
Publisher :
ISBN 13 :
Total Pages : 67 pages
Book Rating : 4.:/5 (227 download)
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.
Author : Shannon S. Twigg
Publisher :
ISBN 13 : 9781109992120
Total Pages : 154 pages
Book Rating : 4.9/5 (921 download)
Download or read book Optimal Path Planning for Single and Multiple Aircraft Using a Reduced Order Formulation written by Shannon S. Twigg and published by . This book was released on 2007 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis examines using an analytical reduced order formulation for trajectory generation for minimum time and terrain masking cases. First, pseudo-3D constant velocity equations of motion are used for path planning for a single vehicle. In addition, the inclusion of winds, moving targets and moving threats is considered. Then, this formulation is increased to using 3D equations of motion, both with a constant velocity and with a simplified varying velocity model. Next, the constant velocity equations of motion are expanded to include the simultaneous path planning of an unspecified number of vehicles, for both aircraft avoidance situations and formation flight cases.
Author :
Publisher :
ISBN 13 :
Total Pages : 115 pages
Book Rating : 4.:/5 (15 download)
Download or read book Real-Time Navigation and Flight Path Generation for Tracking Stop-and-Go Targets with Miniature Air Vehicles written by and published by . This book was released on 2008 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research effort focuses on using a heuristic approach to determine the optimal flight path required to put an Unmanned Aircraft System's (UAS) sensor on a moving target in the presence of a constant wind field. This thesis builds on past work using dynamic optimization techniques to calculate minimum time to target. The computationally intensive dynamic optimization routines in their current form take a prohibitive amount of time to calculate and ultimately result in erroneous flight path predictions due to inherent execution time latencies. Therefore an iterative, suboptimal heuristic approach was explored to mitigate excessive calculation times and ultimately yield improved flight path predictions. This report not only explores the heuristic techniques used for flight path calculation, but also includes real world application and flight test results in a Micro Air Vehicle equipped with an autopilot.
Author :
Publisher :
ISBN 13 :
Total Pages : 11 pages
Book Rating : 4.:/5 (227 download)
Download or read book Micro UAV Path Planning for Reconnaissance in Wind (Preprint). written by and published by . This book was released on 2006 with total page 11 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem addressed in this paper is the control of a Micro Unmanned Aerial Vehicle (MAV) for the purpose of obtaining video footage of a set of known ground targets with preferred azimuthal viewing angles, using fixed onboard cameras. Control is exercised only through the selection of waypoints, without modification of the MAV's pre-existing autopilot and waypoint following capability. Specifically, we investigate problems and potential solutions of performing this task in the presence of a known constant wind. Simulations are provided in presence of randomly perturbed wind, based on the Air Force Research Laboratory equipment and the high fidelity simulator MultiUAV2.
Author : Warren F. Phillips
Publisher : John Wiley & Sons
ISBN 13 : 9780471334583
Total Pages : 986 pages
Book Rating : 4.3/5 (345 download)
Download or read book Mechanics of Flight written by Warren F. Phillips and published by John Wiley & Sons. This book was released on 2004-01-29 with total page 986 pages. Available in PDF, EPUB and Kindle. Book excerpt: This comprehensive volume addresses the mechanics of flight through a combination of theory and applications. Topics are presented in a logical order and coverage within each is extensive, including a detailed discussion on the quaterion formulation for six-degree-of-freedom flight.
