18,286 research outputs found
Simplex Solutions for Optimal Control Flight Paths in Urban Environments
This paper identifies feasible fight paths for Small Unmanned Aircraft Systems in a highly constrained environment. Optimal control software has long been used for vehicle path planning and has proven most successful when an adequate initial guess is presented flight to an optimal control solver. Leveraging fast geometric planning techniques, a large search space is discretized into a set of simplexes where a Dubins path solution is generated and contained in a polygonal search corridor free of path constraints. Direct optimal control methods are then used to determine the optimal flight path through the newly defined search corridor. Two scenarios are evaluated. The first is limited to heading rate control only, requiring the air vehicle to maintain constant speed. The second allows for velocity control which permits slower speeds, reducing the vehicles minimum turn radius and increasing the search domain. Results illustrate the benefits gained when including speed control to path planning algorithms by comparing trajectory and convergence times, resulting in a reliable, hybrid solution method to the SUAS constrained optimal control problem
Decision-making for unmanned aerial vehicle operation in icing conditions
With the increased use of unmanned aerial systems
(UAS) for civil and commercial applications, there is
a strong demand for new regulations and technology that
will eventually permit for the integration of UAS in
unsegregated airspace. This requires new technology to
ensure sufficient safety and a smooth integration process.
The absence of a pilot on board a vehicle introduces new
problems that do not arise in manned flight. One challenging
and safety-critical issue is flight in known icing
conditions. Whereas in manned flight, dealing with icing is
left to the pilot and his appraisal of the situation at hand; in
unmanned flight, this is no longer an option and new
solutions are required. To address this, an icing-related
decision-making system (IRDMS) is proposed. The system
quantifies in-flight icing based on changes in aircraft performance
and measurements of environmental properties,
and evaluates what the effects on the aircraft are. Based on
this, it determines whether the aircraft can proceed, and
whether and which available icing protection systems should be activated. In this way, advice on an appropriate
response is given to the operator on the ground, to ensure
safe continuation of the flight and avoid possible accidents
A Survey of Air-to-Ground Propagation Channel Modeling for Unmanned Aerial Vehicles
In recent years, there has been a dramatic increase in the use of unmanned
aerial vehicles (UAVs), particularly for small UAVs, due to their affordable
prices, ease of availability, and ease of operability. Existing and future
applications of UAVs include remote surveillance and monitoring, relief
operations, package delivery, and communication backhaul infrastructure.
Additionally, UAVs are envisioned as an important component of 5G wireless
technology and beyond. The unique application scenarios for UAVs necessitate
accurate air-to-ground (AG) propagation channel models for designing and
evaluating UAV communication links for control/non-payload as well as payload
data transmissions. These AG propagation models have not been investigated in
detail when compared to terrestrial propagation models. In this paper, a
comprehensive survey is provided on available AG channel measurement campaigns,
large and small scale fading channel models, their limitations, and future
research directions for UAV communication scenarios
Testing Enabling Technologies for Safe UAS Urban Operations
A set of more than 100 flight operations were conducted at NASA Langley Research Center using small UAS (sUAS) to demonstrate, test, and evaluate a set of technologies and an overarching air-ground system concept aimed at enabling safety. The research vehicle was tracked continuously during nominal traversal of planned flight paths while autonomously operating over moderately populated land. For selected flights, off-nominal risks were introduced, including vehicle-to-vehicle (V2V) encounters. Three contingency maneuvers were demonstrated that provide safe responses. These maneuvers made use of an integrated air/ground platform and two on-board autonomous capabilities. Flight data was monitored and recorded with multiple ground systems and was forwarded in real time to a UAS traffic management (UTM) server for airspace coordination and supervision
An Aerial Deployed Unmanned Autonomous Glider for Cross-Channel Flight
This paper describes the technical and operational challenges of the first cross-Channel flight performed by an unmanned autonomous glider. The glider chosen for the attempt was a quarter scale Slingsby Type 45 Swallow. It was found to have a lift-to-drag ratio of 8, as verified by wind tunnel force balance tests. Essential retrospective aerodynamic refinements to the design, including modifications of the wing root and tip sections and wing aspect ratio, were modelled analytically and found to increase the aircraft’s lift-to-drag ratio to 19. The launch mechanism devised for the modified glider featured a bespoke crate suspended under an airborne helicopter at an altitude of 10,000 ft, from which the aircraft was released from an internal recess. The glider was pre-programmed to fly autonomously via waypoint navigation and completed the 22 mile mission in less than one hour at an average ground speed of 27 knots, a sink rate of 3 ft/s and with 3,500 ft altitude to spare. The successful flight, which was filmed from onboard cameras and a chase helicopter, represents a unique first in autonomous aviation and is unofficially the longest straight distance flight for an unmanned engineless glider
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