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Control System for Optimal Flight Trajectories for Terrain Collision Avoidance [chapter]

Tapan Sharma, Cees Bil, Andrew Eberhard
2005 Lecture Notes in Computer Science  
Existing Collision Avoidance Systems In the past, a lot of work has been done in relation to trajectory optimisation using optimal control theory.  ...  A receding horizon optimal control was used for autonomous trajectory generation and flight control for an unmanned aerial vehicle in urban terrain for non real time scenario utilising MPC is presented  ...  number of nodes for Euler method data.intervals = 12; %%%%% data.n = 9; % Give number of state variables data.m = 3; % Give number of control inputs = 1;  ... 
doi:10.1007/11552451_85 fatcat:gneqhcfv4nclvi3jfjjayrsspe

Optimal three dimensional aircraft terrain following and collision avoidance

T. Sharma, P. Williams, C. Bil, A. Eberhard
2007 ANZIAM Journal  
In the formulation, we solve for optimal collision avoidance manoeuvres. To ensure smooth derivatives of general three dimensional terrain, it is approximated using B-splines.  ...  In this article, optimal terrain following is considered as a minimax optimal control problem, which is solved using direct transcription of the continuous optimal control problem.  ...  Conclusions An approach for planning terrain following and collision avoidance trajectories for military aircraft has been developed.  ... 
doi:10.21914/anziamj.v47i0.1071 fatcat:chaxfixarjeqvdgfa52tjgt46q

Flight deck automation support with dynamic 4D trajectory management for ACAS: AUTOFLY-Aid

Emre Koyuncu, Eduardo Garcia, Gokhan Inalhan
2012 2012 Integrated Communications, Navigation and Surveillance Conference  
AUTOFLY-Aid Project aims to develop and demonstrate novel automation support algorithms and tools to the flight crew for flight critical collision avoidance using "dynamic 4D trajectory management".  ...  collision avoidance scenarios.  ...  collision avoidance systems and b) to meet the growing needs of collision avoidance in the face of increasing flight and aircraft capacities [5] .  ... 
doi:10.1109/icnsurv.2012.6218387 fatcat:gqtz2rprsfepbbfx7ddqzopt24

A Two-Stage Method for UCAV TF/TA Path Planning Based on Approximate Dynamic Programming

Hao-xiang Chen, Ying Nan, Yi Yang
2018 Mathematical Problems in Engineering  
We present a two-stage method for solving the terrain following (TF)/terrain avoidance (TA) path-planning problem for unmanned combat air vehicles (UCAVs).  ...  The 1st stage of planning takes an optimization approach for generating a 2D path on a horizontal plane with no collision with the terrain.  ...  Acknowledgments This work was supported by funding of Jiangsu Innovation Program for Graduate Education, KYLX15 0319, "the Fundamental Research Funds for the Central Universities."  ... 
doi:10.1155/2018/1092092 fatcat:wttavtsprbfd3g5fntqt6bniyq

Aircraft three-dimensional hardconstrained trajectory planning using pseudospectral optimization method

Ali-Reza Babaei, Hossein Maghsoudi
2021 Journal of Aerospace Technology and Management  
To this end, an objective function is defined as the shortest trajectory length in such a way that some constraints including rough terrain avoidance, forbidden zone avoidance, initial and terminal constraints  ...  the optimal control problem into the parametric optimization one.  ...  Obstacle avoidance constraint The following constraints are defined for the purpose of obstacle or terrain collision avoidance (Eqs. 15 and 16): (15) (16) where, hTerrain (X(τ), Y(τ)) is the terrain altitude  ... 
doi:10.1590/jatm.v13.1170 fatcat:lqfzbzrsgzdthonihtmkpl2yry

An Evasive Maneuvering Algorithm for UAVs in See-and-Avoid Situations

David Hyunchul Shim, Shankar Sastry
2007 American Control Conference (ACC)  
In this paper, we present an collision avoidance algorithm for unmanned aerial vehicles (UAVs) based on model predictive control.  ...  constrained nonlinear dynamic systems.  ...  In this paper, we present an MPC-based collision avoidance algorithm for safe trajectory generation and control of constrained nonlinear dynamic system with input saturation in real-time.  ... 
doi:10.1109/acc.2007.4283147 dblp:conf/acc/ShimS07 fatcat:4dqf6mat4reoze74tnx2hrjagi

Optimal Trajectory-Planning of UAVs via B-Splines and Disjunctive Programming [article]

Alireza Babaei, Amirhossein Karimi
2018 arXiv   pre-print
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains.  ...  Moreover, the B-spline curves are employed to represent the trajectories which should be generated in the optimization process.  ...  Fig. 12 .Fig. 13 . 1213 Optimal trajectories obtained for two UAVs without considering collision avoidance constraint. Optimal trajectory obtained for the UAV in the presence of dynamic obstacle.  ... 
arXiv:1807.02931v1 fatcat:krte7gzkhjf3fo64pqgm2ouafm

Unmanned Aircraft Collision Detection and Avoidance for Dealing with Multiple Hazards

Federico Corraro, Gianluca Corraro, Giovanni Cuciniello, Luca Garbarino
2022 Aerospace (Basel)  
Collision Detection and Avoidance is one of the critical technologies for fully allowing Unmanned Aerial Systems to fly in civil airspaces.  ...  Using such indices, a risk evaluation strategy is proposed that detects hazardous situations and generates an optimal maneuver avoiding potential collisions while not causing secondary conflicts.  ...  for checking that altitude of the aircraft is above the terrain elevation on the given trajectory.  ... 
doi:10.3390/aerospace9040190 fatcat:5hyrsk4ryrcc3coxn4yi72qydq

Rapid Trajectory Planner for Navigating Complex Terrain Using Random Search and Dynamics Filter Based on Dynamic Inversion

Kyoshiro ITAKURA, Koichi YONEMOTO, Takaaki MATSUMOTO, Takumi OHKI
It can rapidly generate a collision-free trajectory for an unmanned aircraft in a highly constrained environment, including complex terrains with obstacles or waypoints.  ...  The proposed trajectory planner consists of two steps to effectively generate a collision-free flight trajectory.  ...  Acknowledgments This study was supported by a Grant-in-Aid for JSPS Fellows, No. 267733, and a Grant-in-Aid for Research Activity Start-up, No. 23860036.  ... 
doi:10.2322/tastj.13.23 fatcat:mmmmfeja6jhhvg4zlxpjy7br3i

First results in autonomous landing and obstacle avoidance by a full-scale helicopter

Sebastian Scherer, Lyle Chamberlain, Sanjiv Singh
2012 2012 IEEE International Conference on Robotics and Automation  
Here we consider the problems of finding suitable but previously unmapped landing sites given general coordinates of the goal and planning collision free trajectories in real time to land at the "optimal  ...  We show results from 8 experiments for landing site selection and 5 runs at obstacles.  ...  The computers both evaluate terrain and obstacles, and also plan safe trajectories to complete the mission. These trajectories are sent to the flight control system autopilot on the rotorcraft.  ... 
doi:10.1109/icra.2012.6225215 dblp:conf/icra/SchererCS12 fatcat:de72gokcqjfo7llah7eg6vnxyy

Aircraft Trajectory Planning for Terrain Following Incorporating Actuator Constraints

Paul Williams
2005 Journal of Aircraft  
Furthermore, in collision avoidance maneuvers, pulling the aircraft up is not always the optimal method for avoiding ter- rain and climbing turns or lateral maneuvers must sometimes be considered.  ...  L., “( )ptimal Trajectory Synthesis for Terrain-Following Flight,” Journal of Guidance, Control, and Dynamics, Vol. 14, No. 4, 1991, pp. 807-813.  ... 
doi:10.2514/1.17811 fatcat:ywig4slrjzdkrnmwfyxcj4yivu

Three-Dimensional Aircraft Terrain-Following via Real-Time Optimal Control

Paul Williams
2007 Journal of Guidance Control and Dynamics  
., “All Terrain Ground Collision Avoidance and Maneuvering Terrain Following for Automated Low-Level Night Attack,” JEEE Aerospace and Electronic Systems Magazine, Vol. 8, No. 3, March 1993, pp. 40-47.  ...  L., “Optimal Trajectory Synthesis for Terrain-Following Flight,” Journal of Guidance, Control, and Dynamics, Vol. 14, No. 4, 1991, pp. 807-813.  ... 
doi:10.2514/1.29145 fatcat:zrms4tlgbjg4xk3qw6gnnssmiy

Terrain Avoidance Model Predictive Control for Autonomous Rotorcraft

B. Guerreiro, C. Silvestre, R. Cunha
2008 IFAC Proceedings Volumes  
This paper presents a terrain avoidance control methodology for autonomous rotorcraft applied to low altitude flight.  ...  , yielding smooth and collision-free trajectories.  ...  Avoidance MPC method is designed to provide low altitude flight capabilities even for scenarios where the predefined trajectory collides with the terrain.  ... 
doi:10.3182/20080706-5-kr-1001.00186 fatcat:chvetpenqbfwbpbm3dgn5hewhy

Designing a Reliable UAV Architecture Operating in a Real Environment

Krzysztof Andrzej Gromada, Wojciech Marcin Stecz
2021 Applied Sciences  
Methods of integrating flight simulators with elements of the air platform in the form of Software-in-the-Loop (SIL) models based on selected algorithms for avoiding dangerous situations have been described  ...  The presented results are based on a practical example of an algorithm for detecting an air collision situation of two platforms.  ...  [24] describe the collision avoidance problem as an optimal control task.  ... 
doi:10.3390/app12010294 fatcat:irbku3ybcnglvllgv6ckopdteu

3D Optimal Surveillance Trajectory Planning for Multiple UAVs by Using Particle Swarm Optimization with Surveillance Area Priority

Teng Hu, Ishtiaq Ahmad, Alamgir MSM, KyungHi Chang
2020 IEEE Access  
trajectories for multiple monitoring drones.  ...  We also propose a multi-objective fitness function in accordance with energy consumption, flight risk, and surveillance area priority in order to evaluate the trajectories generated by the proposed trajectory  ...  For two separate trajectories, UAVs should maintain a minimum safe distance between them to avoid collisions.  ... 
doi:10.1109/access.2020.2992217 fatcat:34ju7ktqqrgkpf6ojpxmuozhii
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