Tsourdos / White / Shanmugavel Cooperative Path Planning of Unmanned Aerial Vehicles

1. Auflage 2010
ISBN: 978-0-470-97464-3
Verlag: John Wiley & Sons
Format: EPUB
Kopierschutz: 0 - No protection

E-Book, Englisch, 216 Seiten, E-Book

Reihe: Aerospace Series

An invaluable addition to the literature on UAV guidance andcooperative control, Cooperative Path Planning of UnmannedAerial Vehicles is a dedicated, practical guide tocomputational path planning for UAVs. One of the key issues facingfuture development of UAVs is path planning: it is vital that swarmUAVs/ MAVs can cooperate together in a coordinated manner, obeyinga pre-planned course but able to react to their environment bycommunicating and cooperating. An optimized path is necessary inorder to ensure a UAV completes its mission efficiently, safely,and successfully.
Focussing on the path planning of multiple UAVs for simultaneousarrival on target, Cooperative Path Planning of Unmanned AerialVehicles also offers coverage of path planners that areapplicable to land, sea, or space-borne vehicles.
Cooperative Path Planning of Unmanned Aerial Vehicles isauthored by leading researchers from Cranfield University andprovides an authoritative resource for researchers, academics andengineers working in the area of cooperative systems, cooperativecontrol and optimization particularly in the aerospaceindustry.

Autoren/Hrsg.

Tsourdos, Antonios

White, Brian

Shanmugavel, Madhavan

Inhaltsverzeichnis

About the Authors.
Series Preface.
Preface.
Acknowledgements.
List of Figures.
List of Tables.
Nomenclature.
1. Introduction.
1.1 Path Planning Formulation.
1.2 Path Planning Constraints.
1.3 Cooperative Path Planning and Mission Planning.
1.4 Path Planning - An Overview.
1.5 The Road Map Method.
1.6 Probabilistic Methods.
1.7 Potential Field.
1.8 Cell Decomposition.
1.9 Optimal Control.
1.10 Optimization Techniques.
1.11 Trajectories for Path Planning.
1.12 Outline of the Book.
References.
2. Path Planning in Two Dimensions.
2.1 Dubins Paths.
2.2 Designing Dubins Path using Analytical Geometry.
2.3 Existence of Dubins Paths.
2.4 Length of Dubins Paths.
2.5 Design of Dubins Paths using Principles of DifferentialGeometry.
2.6 Path of Continuous Curvature.
2.7 Producing Flyable Clothoid Paths.
28 Producing Flyable Pythagorean Hodograph Paths (2D).
References.
3. Path Planning in Three Dimensions.
3.1 Dubins Paths in Three Dimensions Using DifferentialGeometry.
3.2 Path Length - Dubins 3D.
3.3 Pythagorean Hodograph Paths - 3D.
3.4 Design of Flyable Paths Using PH Curves.
References.
4. Collision Avoidance.
4.1 Research into Obstacle Avoidance.
4.2 Obstacle Avoidance for Mapped Obstacles.
4.3 Obstacle Avoidance of Unmapped Static Obstacles.
4.4 Algorithmic Implementation.
References.
5. Path-Following Guidance.
5.1 Path Following the Dubins Path.
5.2 Linear Guidance Algorithm.
5.3 Nonlinear Dynamic Inversion Guidance.
5.4 Dynamic Obstacle Avoidance Guidance.
References.
6. Path Planning for Multiple UAVs.
6.1 Problem Formulation.
6.2 Simultaneous Arrival.
6.3 Phase I: Producing Flyable Paths.
6.4 Phase II: Producing Feasible Paths.
6.5 Phase III: Equalizing Path Length.
6.6 Multiple Path Algorithm.
6.7 Algorithm Application for Multiple UAVs.
6.8 2D Pythagorean Hodograph Paths.
6.9 3D Dubins Paths.
6.10 3D Pythagorean Hodograph Paths.
References.
Appendix A Differential Geometry.
Appendix B. Pythagorean Hodograph.
Index.

Über Autor(innen)

Antonios Tsourdos is a Reader in Autonomous Systems andControl and Head of the Guidance and Control Group at Cranfield.His research areas include UAV Autonomy, UAV Path Planning,Coordinated Guidance, Cooperative Control, UAV Swarm, AutonomousSensors Network, Sensor and Data Fusion, and Vehicle HealthManagement. He has authored many scientific research papers and hasserved as a guest editor for journal special issues on'multi-vehicle systems cooperative control with applications';'advances in missile guidance and control: theory and practice',and cooperative control approaches for multiple mobile robots'.
Brian A White, now Professor Emeritus at Cranfield, wasuntil recently Head of the Department of Aerospace, Power andSensors and also Head of the Guidance and Control Group atCranfield. His areas of expertise are robust control, non-linearcontrol, estimation, observer applications, inertial navigation,guidance design, soft computing and sensor and data fusion. He haspublished widely in the control science field, mainly on autopilotdesign and guidance. He has managed significant contracts in thearea of guidance. He has organized and run numerous invitedsessions at major control conferences and co-edited a special issueof the IFAC journal Control Engineering Practice on Control inDefence Systems. He has served as associate editor for the IMechEJournal of Aerospace Engineering (Part G), IMechE Journal ofSystems and Control Engineering (Part I), and the Journal ofNonlinear Studies.
Madhavan Shanmugavel is a Research Officer within theGuidance and Control Group at Cranfield.