• Title, Summary, Keyword: Dubins Curve

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3-Dimensional Path Planning and Guidance for High Altitude Long Endurance UAV Including a Solar Power Model (태양광 전력모델을 포함한 장기체공 무인기의 3차원 경로계획 및 유도)

  • Oh, Su-hun;Kim, Kap-dong;Park, Jun-hyun
    • Journal of Advanced Navigation Technology
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    • v.20 no.5
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    • pp.401-407
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    • 2016
  • This paper introduces 3-dimensional path planning and guidance including power model for high altitude long endurance (HALE) UAV using solar energy. Dubins curve used in this paper has advantage of being directly available to apply path planning. However, most of the path planning problems using Dubins curve are defined in a two-dimensional plan. So, we used 3-dimensional Dubins path generation algorithm which was studied by Randal W. Beard. The aircraft model which used in this paper does not have an aileron. So we designed lateral controller by using a rudder. And then, we were conducted path tracking simulations by using a nonlinear path tracking algorithm. We generate examples according to altitude conditions. From the path tracking simulation results, we confirm that the path tracking is well on the flight path. Finally, we were modeling the power system of HALE UAVs and conducting path tracking simulation during 48hours. Modeling the amount of power generated by the solar cell through the calculation of the solar energy yield. And, we show the 48hours path tracking simulation results.

3-Dimensional Path Planning and Guidance using the Dubins Curve for an 3-DOF Point-mass Aircraft Model (Dubins 곡선을 이용한 항공기 3자유도 질점 모델의 3차원 경로계획 및 유도)

  • O, Su-Hun;Ha, Chul-Su;Kang, Seung-Eun;Mok, Ji-hyun;Ko, Sangho;Lee, Yong-Won
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.24 no.1
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    • pp.1-9
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    • 2016
  • In this paper, we integrate three degree of freedom(3DOF) point-mass model for aircraft and three-dimensional path generation algorithms using dubins curve and nonlinear path tracking law. Through this integration, we apply the path generation algorithm to the path planning, and verify tracking performance and feasibility of using the aircraft 3DOF point-mass model for air traffic management. The accuracy of modeling 6DOF aircraft is more accurate than that of 3DOF model, but the complexity of the calculation would be raised, in turn the rate of computation is more likely to be slow due to the increase of degree of freedom. These obstacles make the 6DOF model difficult to be applied to simulation requiring real-time path planning. Therefore, the 3DOF point-mass model is also sufficient for simulation, and real-time path planning is possible because complexity can be reduced, compared to those of the 6DOF. Dubins curve used for generating the optimal path has advantage of being directly available to apply path planning. However, we use the algorithm which extends 2D path to 3D path since dubins curve handles the two dimensional path problems. Control law for the path tracking uses the nonlinear path tracking laws. Then we present these concomitant simulation results.

3-Dimensional Path Planning and Guidance using the Dubins Curve for an 3-DOF Point-Mass Aircraft Model (Dubins 곡선을 이용한 항공기 3자유도 질점 모델의 3차원 경로계획 및 유도)

  • O, Su-Heon;Ha, Cheol-Su;Gang, Seung-Eun;Go, Sang-Ho;Lee, Yong-Won
    • 한국항공운항학회:학술대회논문집
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    • pp.247-251
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    • 2015
  • 본 논문에서는 항공기의 3자유도 질점 모델과 Dubins 곡선을 이용한 3차원 경로생성 알고리즘 및 비선형 경로추종 유도기법을 통합하여 항공기의 경로계획을 위해 적용한 경로생성 알고리즘을 검증하고, 경로추종 성능과 항공교통관리를 위한 시뮬레이션에 3자유도 질점 항공기 모델 사용의 타당성을 확인하였다. 최적경로 생성을 위해 사용된 Dubins 곡선의 경우 계산속도가 빠르고 경로계획에 바로 적용이 가능하다는 장점이 있다. 하지만 주로 2차원 상의 경로문제를 다루기 때문에 이를 3차원 비행경로로 확장시킨 알고리즘을 사용하였다. 경로추종을 위한 유도제어법칙은 Specific Acceleration 명령을 통해 자세를 제어하는 비선형 경로추종 유도법칙을 활용하였으며, 이에 대한 결과를 확인하였다.

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Dubins Path Generation and Tracking of UAVs With Angular Velocity Constraints (각속도 제한을 고려한 무인기의 Dubins 경로 생성 및 추적)

  • Yang, You-young;Jang, Seok-ho;Leeghim, Henzeh
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.49 no.2
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    • pp.121-128
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    • 2021
  • In this paper, we propose a path generation and tracking algorithm of an unmanned air vehicle in a two-dimensional plane given the initial and final points. The path generation algorithm using the Dubins curve proposed in this work has the advantage that it can be applied in real time to an unmanned air vehicle. The path tracking algorithm is an algorithm similar to the line-of-sight induction algorithm. In order to efficiently control the direction angle, a gain related to the look ahead distance concept is introduced. Most of UAVs have the limited maximum curvature due to the structural constraints. A numerical simulation is conducted to follow the path generated by the sliding mode controller considering the angular velocity limit. The path generation and tracking performance is verified by comparing the suggested controller with conventional control techniques.