Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle
A path planning method for an unmanned aerial system type quadrotor is proposed in this work. It is based on Dubins curves. Therefore, different points (initial and ending) are set for generation of several paths. Additionally, to validate the proposed model a computational resource is applied. Also...
- Autores:
-
Cárdenas R., César A.
Landero, V.
R. González, Ramón E.
Ariza-Colpas, Paola
De-la-Hoz-Franco, Emiro
Collazos-Morales, Carlos Andrés
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2021
- Institución:
- Corporación Universidad de la Costa
- Repositorio:
- REDICUC - Repositorio CUC
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.cuc.edu.co:11323/8817
- Acceso en línea:
- https://hdl.handle.net/11323/8817
https://doi.org/10.1007/978-3-030-86960-1_30
https://repositorio.cuc.edu.co/
- Palabra clave:
- Dubins
VTOL
Flight dynamics
Path planning
- Rights
- openAccess
- License
- Attribution-NonCommercial-NoDerivatives 4.0 International
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Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle |
| title |
Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle |
| spellingShingle |
Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle Dubins VTOL Flight dynamics Path planning |
| title_short |
Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle |
| title_full |
Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle |
| title_fullStr |
Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle |
| title_full_unstemmed |
Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle |
| title_sort |
Path Planning Approach for a Quadrotor Unmanned Aerial Vehicle |
| dc.creator.fl_str_mv |
Cárdenas R., César A. Landero, V. R. González, Ramón E. Ariza-Colpas, Paola De-la-Hoz-Franco, Emiro Collazos-Morales, Carlos Andrés |
| dc.contributor.author.spa.fl_str_mv |
Cárdenas R., César A. Landero, V. R. González, Ramón E. Ariza-Colpas, Paola De-la-Hoz-Franco, Emiro Collazos-Morales, Carlos Andrés |
| dc.subject.spa.fl_str_mv |
Dubins VTOL Flight dynamics Path planning |
| topic |
Dubins VTOL Flight dynamics Path planning |
| description |
A path planning method for an unmanned aerial system type quadrotor is proposed in this work. It is based on Dubins curves. Therefore, different points (initial and ending) are set for generation of several paths. Additionally, to validate the proposed model a computational resource is applied. Also, some flight dynamics limits and orientation angles computations are considered to be able to determine a simplified Dubins model. Dubins paths are commonly divided into low, medium and high altitude gains. It will depend on the altitude established for the start and end points and other configurations. |
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2021 |
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2021-10-29T13:40:43Z |
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2021-10-29T13:40:43Z |
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2021 |
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Artículo de revista |
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Text |
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https://doi.org/10.1007/978-3-030-86960-1_30 |
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Corporación Universidad de la Costa |
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REDICUC - Repositorio CUC |
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https://repositorio.cuc.edu.co/ |
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Corporación Universidad de la Costa REDICUC - Repositorio CUC |
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eng |
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eng |
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Alexis, K Dr.: Dubins Airplane. http://www.kostasalexis.com/dubins-airplane.html. (2017) Anderson, J.D.: Aircraft performance and design. McGraw-Hill international editions: Aerospace science/technology series. WCB/McGraw-Hill, New York (1999). ISBN: 9780070019713. https://books.google.com.co/books?id=PwtO7aiwbBwC Cárdenas, C.A., Grisales, V.H., Collazos Morales, C.A., Cerón-Muñoz, H.D., Ariza-Colpas, P., Caputo-Llanos, R.: Quadrotor Modeling and a PID Control Approach. In: Tiwary, U.S., Chaudhury, S. (eds.) IHCI 2019. LNCS, vol. 11886, pp. 281–291. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-44689-5_25 Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton University Press, New Jersey (2012) Cárdenas Ruiz, C.A.: Performance study of the flight control and path planning for a UAV type Quadrotor. In: Ingeniería Mecatrónica (2018) Chitsaz, H., LaValle, S.M.: Time-optimal paths for a Dubins airplane. In: Decision and Control, 2007 46th IEEE Conference on, pp. 2379–2384. IEEE (2007) Collazos, C., et al.: State estimation of a dehydration process by interval analysis. In: Figueroa-García, J.C., López-Santana, E.R., Rodriguez-Molano, J.I. (eds.) WEA 2018. CCIS, vol. 915, pp. 66–77. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00350-0_6 Dubins, L.E.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. 79(3), 497–516 (1957) Grymin, D.: Development of a novel method for autonomous navigation and landing of unmanned aerial vehicles. In: (2009) Li, W., et al.: A 3D path planning approach for quadrotor UAV navigation. In: Information and Automation, 2015 IEEE International Conference on, pp. 2481–2486. IEEE (2015) Lugo-Cárdenas, I., et al.: Dubins path generation for a fixed wing UAV. In: Unmanned Aircraft Systems (ICUAS), 2014 International Conference on, pp. 339–346. IEEE (2014) Cárdenas, R.C.A., et al.: Mathematical Modelling and Identification of a Quadrotor. In: Gervasi, O., et al. (eds.) ICCSA 2020. LNCS, vol. 12249, pp. 261–275. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-58799-4_19 Omar, R.B.: Path planning for unmanned aerial vehicles using visibility line-based methods. PhD thesis. University of Leicester (2012) Owen, M., Beard, R.W., McLain, T.W.: implementing Dubins airplane paths on fixed-wing UAVs*. In: Valavanis, K.P., Vachtsevanos, G.J. (eds.) Handbook of Unmanned Aerial Vehicles, pp. 1677–1701. Springer, Dordrecht (2015). https://doi.org/10.1007/978-90-481-9707-1_120 Pharpatara, P.: Trajectory planning for aerial vehicles with constraints. Theses. Université Paris-Saclay; Université d’Evry-Val-d’Essonne, September (2015). https://tel.archives-ouvertes.fr/tel-01206423 Poyi, G.T.: A novel approach to the control of quad-rotor helicopters using fuzzy-neural networks. In: (2014) Shanmugavel, M., et al.: Path planning of multiple autonomous vehicles. In: (2007) Antonios Tsourdos, Brian White, and Madhavan Shanmugavel. Cooperative Path Planning of Unmanned Aerial Vehicles. vol. 32. Wiley, Chichester (2010) Valavanis, K.P., Vachtsevanos, G.J. (eds.): Handbook of Unmanned Aerial Vehicles. Springer, Dordrecht (2015). https://doi.org/10.1007/978-90-481-9707-1 |
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Cárdenas R., César A.Landero, V.R. González, Ramón E.Ariza-Colpas, PaolaDe-la-Hoz-Franco, EmiroCollazos-Morales, Carlos Andrés2021-10-29T13:40:43Z2021-10-29T13:40:43Z2021https://hdl.handle.net/11323/8817https://doi.org/10.1007/978-3-030-86960-1_30Corporación Universidad de la CostaREDICUC - Repositorio CUChttps://repositorio.cuc.edu.co/A path planning method for an unmanned aerial system type quadrotor is proposed in this work. It is based on Dubins curves. Therefore, different points (initial and ending) are set for generation of several paths. Additionally, to validate the proposed model a computational resource is applied. Also, some flight dynamics limits and orientation angles computations are considered to be able to determine a simplified Dubins model. Dubins paths are commonly divided into low, medium and high altitude gains. It will depend on the altitude established for the start and end points and other configurations.Cárdenas R., César A.Landero, V.R. González, Ramón E.Ariza-Colpas, PaolaDe-la-Hoz-Franco, EmiroCollazos-Morales, Carlos Andrésapplication/pdfengAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2International Conference on Computational Science and Its Applicationshttps://link.springer.com/chapter/10.1007/978-3-030-86960-1_30DubinsVTOLFlight dynamicsPath planningPath Planning Approach for a Quadrotor Unmanned Aerial VehicleArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/redcol/resource_type/ARTinfo:eu-repo/semantics/acceptedVersionAlexis, K Dr.: Dubins Airplane. http://www.kostasalexis.com/dubins-airplane.html. (2017)Anderson, J.D.: Aircraft performance and design. McGraw-Hill international editions: Aerospace science/technology series. WCB/McGraw-Hill, New York (1999). ISBN: 9780070019713. https://books.google.com.co/books?id=PwtO7aiwbBwCCárdenas, C.A., Grisales, V.H., Collazos Morales, C.A., Cerón-Muñoz, H.D., Ariza-Colpas, P., Caputo-Llanos, R.: Quadrotor Modeling and a PID Control Approach. In: Tiwary, U.S., Chaudhury, S. (eds.) IHCI 2019. LNCS, vol. 11886, pp. 281–291. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-44689-5_25Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton University Press, New Jersey (2012)Cárdenas Ruiz, C.A.: Performance study of the flight control and path planning for a UAV type Quadrotor. In: Ingeniería Mecatrónica (2018)Chitsaz, H., LaValle, S.M.: Time-optimal paths for a Dubins airplane. In: Decision and Control, 2007 46th IEEE Conference on, pp. 2379–2384. IEEE (2007)Collazos, C., et al.: State estimation of a dehydration process by interval analysis. In: Figueroa-García, J.C., López-Santana, E.R., Rodriguez-Molano, J.I. (eds.) WEA 2018. CCIS, vol. 915, pp. 66–77. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00350-0_6Dubins, L.E.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. 79(3), 497–516 (1957)Grymin, D.: Development of a novel method for autonomous navigation and landing of unmanned aerial vehicles. In: (2009)Li, W., et al.: A 3D path planning approach for quadrotor UAV navigation. In: Information and Automation, 2015 IEEE International Conference on, pp. 2481–2486. IEEE (2015)Lugo-Cárdenas, I., et al.: Dubins path generation for a fixed wing UAV. In: Unmanned Aircraft Systems (ICUAS), 2014 International Conference on, pp. 339–346. IEEE (2014)Cárdenas, R.C.A., et al.: Mathematical Modelling and Identification of a Quadrotor. In: Gervasi, O., et al. (eds.) ICCSA 2020. LNCS, vol. 12249, pp. 261–275. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-58799-4_19Omar, R.B.: Path planning for unmanned aerial vehicles using visibility line-based methods. PhD thesis. University of Leicester (2012)Owen, M., Beard, R.W., McLain, T.W.: implementing Dubins airplane paths on fixed-wing UAVs*. In: Valavanis, K.P., Vachtsevanos, G.J. (eds.) Handbook of Unmanned Aerial Vehicles, pp. 1677–1701. Springer, Dordrecht (2015). https://doi.org/10.1007/978-90-481-9707-1_120Pharpatara, P.: Trajectory planning for aerial vehicles with constraints. Theses. Université Paris-Saclay; Université d’Evry-Val-d’Essonne, September (2015). https://tel.archives-ouvertes.fr/tel-01206423Poyi, G.T.: A novel approach to the control of quad-rotor helicopters using fuzzy-neural networks. In: (2014)Shanmugavel, M., et al.: Path planning of multiple autonomous vehicles. In: (2007)Antonios Tsourdos, Brian White, and Madhavan Shanmugavel. Cooperative Path Planning of Unmanned Aerial Vehicles. vol. 32. Wiley, Chichester (2010)Valavanis, K.P., Vachtsevanos, G.J. (eds.): Handbook of Unmanned Aerial Vehicles. 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