Trajectory generation for a fixed-wing UAV by the potential field method

In this work we propose an online 3D trajectory generation based Artificial Potential Field method (APF) for fixed-wing UAVs. The proposed approach uses a simplified dynamic model in order to ensure the feasibility of the generated trajectory by the real UAV. Simulations show the feasibility of the approach in the cases of waypoints navigation in both free environment and obstructed environment.

[1]  Marius Niculescu,et al.  LATERAL TRACK CONTROL LAW FOR AEROSONDE UAV , 2001 .

[2]  Mark R. Anderson,et al.  FORMATION FLIGHT AS A COOPERATIVE GAME , 1998 .

[3]  Tapabrata Ray,et al.  Optimal offline path planning of a fixed wing unmanned aerial vehicle (UAV) using an evolutionary algorithm , 2007, 2007 IEEE Congress on Evolutionary Computation.

[4]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[5]  G. Ambrosino,et al.  Algorithms for 3D UAV Path Generation and Tracking , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[6]  S. Saripalli,et al.  Path planning using 3D Dubins Curve for Unmanned Aerial Vehicles , 2014, 2014 International Conference on Unmanned Aircraft Systems (ICUAS).

[7]  Mario Fernando Montenegro Campos,et al.  Feasible path planning for fixed-wing UAVs using seventh order Bézier curves , 2012, Journal of the Brazilian Computer Society.

[8]  Taha Chettibi.  Generating Near-Optimal Reference Trajectories for Small Fixed-Wing UAVs , 2011, Int. J. Robotics Autom..

[9]  Sebastian Scherer,et al.  Flying Fast and Low Among Obstacles: Methodology and Experiments , 2008, Int. J. Robotics Res..

[10]  Rogelio Lozano,et al.  Dubins path generation for a fixed wing UAV , 2014, 2014 International Conference on Unmanned Aircraft Systems (ICUAS).

[11]  Joel W. Burdick,et al.  Artificial potential functions for highway driving with collision avoidance , 2008, 2008 IEEE International Conference on Robotics and Automation.

[12]  Kwangjin Yang,et al.  Real-time continuous curvature path planning of UAVS in cluttered environments , 2008, 2008 5th International Symposium on Mechatronics and Its Applications.

[13]  Morten Bisgaard,et al.  Generating approximative minimum length paths in 3D for UAVs , 2012, 2012 IEEE Intelligent Vehicles Symposium.

[14]  Jianqiao Yu,et al.  UAV path planning using artificial potential field method updated by optimal control theory , 2016, Int. J. Syst. Sci..

[15]  Ian Postlethwaite,et al.  A Continuous Local Motion Planning Framework for Unmanned Vehicles in Complex Environments , 2012, J. Intell. Robotic Syst..

[16]  Wen-Hua Chen,et al.  Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles , 2012, J. Intell. Robotic Syst..

[17]  Abdelhafid Elouardi,et al.  Designing embedded systems for fixed-wing UAVs: Dynamic models study for the choice of an emulation vehicle , 2014, 2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14).

[18]  Brian R. Geiger,et al.  Optimal Path Planning of UAVs Using Direct Collocation with Nonlinear Programming , 2006 .

[19]  Vincent Roberge,et al.  Comparison of Parallel Genetic Algorithm and Particle Swarm Optimization for Real-Time UAV Path Planning , 2013, IEEE Transactions on Industrial Informatics.

[20]  Kamesh Subbarao,et al.  Cooperative Control of Swarms of Unmanned Aerial Vehicles , 2011 .

[21]  H. Maaref,et al.  Formation Control of Multi-Robots via Fuzzy Logic Technique , 2008 .