Trajectory Generation and Trajectory Tracking for a team of UAVs
Publish place: Second Iranian Conference on Avionics System
Publish Year: 1393
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICADI02_021
تاریخ نمایه سازی: 11 اردیبهشت 1394
Abstract:
Flyable Trajectory Generation problem for Unmanned Aerial Vehicles (UAVs) is designing a path which takes the aircraft movement restrictions (e.g. pitch up angle, pitch down angle, maximum curvature, maximum speed, etc.) into consideration, and provides a timeframe for the mission. This problem is especially important when designing trajectories for cooperative simultaneous arrival missions; where the objective is to provide multiple UAVs arrive within a narrow time window. In this paper, we used Pythagorean Hodograph (PH) Curves algorithm to design a feasible and flyable trajectory which considers the mentioned restrictions. In this paper, a new perspective to calculate the polynomial coefficients is presented, which makes calculation easier, and provides a suboptimal solution. Simulations results for three different scenarios indicate that the designed path is tracked accurately, and movement restrictions are met.
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Authors
Hamed Pourazad
Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN
Javad Askari
Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN
Saeed Hosseinia
Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN
Ata Nazari
Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN