Real-Time Obstacle and Collision Avoidance System for Fixed-Wing Unmanned Aerial Systems

The motivation for the research presented in this dissertation is to provide a two-fold solution to the problem of non-cooperative reactive mid-air threat avoidance for fixed-wing unmanned aerial systems. The first phase is an offline UAS trajectory planning designed for an altitude-specific mission. The second phase leans on the results produced during the first phase to provide intelligent, real-time, reactive mid-air threat avoidance logic. That real-time operating logic provides a given fixed-wing UAS with local threat awareness so it can get a feel for the danger represented by a potential threat before using results produced during the first phase to require aircraft rerouting. The first original contribution of this research is the Advanced Mapping and Waypoint Generator (AMWG), a piece of software which processes publicly available elevation data in order to only retain the information necessary for a given altitude-specific flight mission. The AMWG is what makes systematic offline trajectory possible. The AMWG first creates altitude groups in order to discard elevations points which are not relevant to a specific mission because of the altitude flown at. Those groups referred to as altitude layers can in turn be reused if the original layer becomes unsafe for the altitude range in use, and the other layers are used for altitude re-scheduling in order to update the current altitude layer to a safer layer. Each layer is bounded by a lower and higher altitude, within which terrain contours are considered constant according to a conservative approach involving the principle of natural erosion. The AMWG then proceeds to obstacle contours extraction using threshold and edge detection vision algorithms. A simplification of those obstacle contours and their corresponding free space zones counterparts is performed using a fixed -tolerance Douglas-Peucker algorithm. This simplification allows free space zones to be described by vectors instead of point clouds, which enables UAS point location. The resulting geometry is then processed through a vertical trapezoidal decomposition where for each vertex defining a contour a vertical line is drawn, and the results of this decomposition is a set of trapezoidal cells. The cells corresponding to obstacle contours are then removed from the original trapezoidal decomposition in order to solely retain the obstacle-free trapezoidal cells. After decomposition, cells sharing part of a common edge are considered from a graph theory perspective so it becomes possible to list all acyclic paths between two cells by applying a depth first search (DFS) algorithm. The final product of the AWMG is a network of connected free space trapezoidal cells with embedded connectivity information referred to as the Synthetic Terrain Avoidance (STA network). The walls of the trapezoidal cells are then extruded as the AWMG essentially approximates a three-dimensional world by considering it as a stratification of two-dimensional layers, but the real-time phase needs 3D support. Using the graph conceptual view and the depth first search algorithm, all the connected cell sequences joining the departure to the arrival cell can be listed, a capability which is used during aircraft rerouting. By connecting two adjacent cells' centroids to their common midpoint located on the shared edge, the resulting flying legs remain within the two cells. The next step for paths between two cells is to be converted into flyable paths, and the conversion uses main and fallback methods to achieve that. The preferred method is the closed-form Dubins paths method involving the design of sequences of arc circle-straight line-arc circle (CLC) in order to account for the minimum radius turn constrain of the UAS. An additional geometric transformation is developed and applied to the initial waypoints used in the Dubins method so the flying leg directions are respected which is not possible by using the Dubins method alone. When consecutive waypoints are too close from one another, a condition called the Dubins condition cannot be respected, and the UAS trajectory design switches to the numerical integration of a system of ordinary differential equations accounting for the minimum turning constraint. Using the Dubins method and the ODE method makes it possible for the AWMG to design flyable offline trajectories accounting for the lateral dynamic of the fixed-wing UAS. The second original contribution of this research is the development and demonstration of the Double Dispersion reduction RRT (DDRRT), an algorithm which employs two new developed logic schemes respectively referred to as Punctual Dispersion Reduction (PDR), and Spatial Dispersion Reduction exploration (SDR). The DDRRT is employed during the real-time in-flight phase where it initially assumes a perfect terrain and no unpredictable threat, consequently following a 100% adaptive goal biasing toward the next waypoint in its list. When a threat such as an unpredicted obstacle is detected, the (PDR) acknowledges the fact that the DDRRT tree branches have met an obstacle and the its goal-biasing toward the next waypoint is decreased. If the PDR keeps decreasing, the DDRRT develops awareness of its surrounding obstacles by relaxing its PDR and switching to SDR which has the effect of increasing the dispersion of its branches, but keeping their extension bounded by the cell containing the last good position of the UAS, Csafe. If a number of branches reach a limit proportional to the Csafe and its relative area, then the STA network is queried for alternative rerouting. The two phases provide real-time reactive mid - air threat avoidance scenarios with the ability for a UAS to develop local and realistic threat awareness before considering intelligent rerouting. Either the local exploration of the DDRRT is successful before reaching a maximum number of points, or the STA Network is required to find another route

Advanced Path Planning and Collision Avoidance Algorithms for UAVs

The thesis aims to investigate and develop innovative tools to provide autonomous flight capability to a fixed-wing unmanned aircraft. Particularly it contributes to research on path optimization, tra jectory tracking and collision avoidance with two algorithms designed respectively for path planning and navigation. The complete system generates the shortest path from start to target avoiding known obstacles represented on a map, then drives the aircraft to track the optimum path avoiding unpredicted ob jects sensed in flight. The path planning algorithm, named Kinematic A*, is developed on the basis of graph search algorithms like A* or Theta* and is meant to bridge the gap between path-search logics of these methods and aircraft kinematic constraints. On the other hand the navigation algorithm faces concurring tasks of tra jectory tracking and collision avoidance with Nonlinear Model Predictive Control. When A* is applied to path planning of unmanned aircrafts any aircraft kinematics is taken into account, then practicability of the path is not guaranteed. Kinematic A* (KA*) generates feasible paths through graph-search logics and basic vehicle characteristics. It includes a simple aircraft kinematic-model to evaluate moving cost between nodes of tridimensional graphs. Movements are constrained with minimum turning radius and maximum rate of climb. Furtermore, separation from obstacles is imposed, defining a volume around the path free from obstacles (tube-type boundaries). Navigation is safe when the tracking error does not exceed this volume. The path-tracking task aims to link kinematic information related to desired aircraft positions with dynamic behaviors to generate commands that minimize the error between reference and real tra jectory. On the other hand avoid obstacles in flight is one of the most challenging tasks for autonomous aircrafts and many elements must be taken into account in order to implement an effective collision avoidance maneuver. Second part of the thesis describes a Nonlinear Model Predictive Control (NMPC) application to cope with collision avoidance and path tracking tasks. First contribution is the development of a navigation system able to match concurring problems: track the optimal path provided with KA* and avoid unpredicted obstacles detected with sensors. Second Contribution is the Sense & Avoid (S&A) technique exploiting spherical camera and visual servoing control logics

Autonomous Approach and Landing Algorithms for Unmanned Aerial Vehicles

In recent years, several research activities have been developed in order to increase the autonomy features in Unmanned Aerial Vehicles (UAVs), to substitute human pilots in dangerous missions or simply in order to execute specific tasks more efficiently and cheaply. In particular, a significant research effort has been devoted to achieve high automation in the landing phase, so as to allow the landing of an aircraft without human intervention, also in presence of severe environmental disturbances. The worldwide research community agrees with the opportunity of the dual use of UAVs (for both military and civil purposes), for this reason it is very important to make the UAVs and their autolanding systems compliant with the actual and future rules and with the procedures regarding autonomous flight in ATM (Air Traffic Management) airspace in addition to the typical military aims of minimizing fuel, space or other important parameters during each autonomous task. Developing autolanding systems with a desired level of reliability, accuracy and safety involves an evolution of all the subsystems related to the guide, navigation and control disciplines. The main drawbacks of the autolanding systems available at the state of art concern or the lack of adaptivity of the trajectory generation and tracking to unpredicted external events, such as varied environmental condition and unexpected threats to avoid, or the missed compliance with the guide lines imposed by certification authorities of the proposed technologies used to get the desired above mentioned adaptivity. During his PhD period the author contributed to the development of an autonomous approach and landing system considering all the indispensable functionalities like: mission automation logic, runway data managing, sensor fusion for optimal estimation of vehicle state, trajectory generation and tracking considering optimality criteria, health management algorithms. In particular the system addressed in this thesis is capable to perform a fully adaptive autonomous landing starting from any point of the three dimensional space. The main novel feature of this algorithm is that it generates on line, with a desired updating rate or at a specified event, the nominal trajectory for the aircraft, based on the actual state of the vehicle and on the desired state at touch down point. Main features of the autolanding system based on the implementation of the proposed algorithm are: on line trajectory re-planning in the landing phase, fully autonomy from remote pilot inputs, weakly instrumented landing runway (without ILS availability), ability to land starting from any point in the space and autonomous management of failures and/or adverse atmospheric conditions, decision-making logic evaluation for key-decisions regarding possible execution of altitude recovery manoeuvre based on the Differential GPS integrity signal and compatible with the functionalities made available by the future GNSS system. All the algorithms developed allow reducing computational tractability of trajectory generation and tracking problems so as to be suitable for real time implementation and to still obtain a feasible (for the vehicle) robust and adaptive trajectory for the UAV. All the activities related to the current study have been conducted at CIRA (Italian Aerospace Research Center) in the framework of the aeronautical TECVOL project whose aim is to develop innovative technologies for the autonomous flight. The autolanding system was developed by the TECVOL team and the author’s contribution to it will be outlined in the thesis. Effectiveness of proposed algorithms has been then evaluated in real flight experiments, using the aeronautical flying demonstrator available at CIRA

Multiphase flow modelling for enhanced oil and gas drilling and production

From the exploration to the abandonment of an oil and gas discovery, operators and engineers are constantly faced with the challenge of achieving the best commercial potential of oil fields. Although the petroleum engineering community has significantly contributed towards maximising the potential of discovered prospects, the approach adopted so far has been compartmentalised with little (heuristics-based) or no quality integration. The highly interconnected nature of the decision factors affecting the management of any field requires increased implementation of Computer-Aided Process Engineering (CAPE) methods, thus presenting a task for which chemical engineers have the background to make useful contributions. Drilling and production are the two primary challenging operations of oilfield activities, which span through different time horizons with both fast and slow-paced dynamics. These attributes of these systems make the application of modelling, simulation, and optimisation tasks difficult. This PhD project aims to improve field planning and development decisions from a Process Systems Engineering (PSE) perspective via numerical (fluid dynamics) simulations and modelbased deterministic optimisation of drilling and production operations, respectively. Also demonstrated in this work is the importance of deterministic optimisation as a reliable alternative to classical heuristic methods. From a drilling operation perspective, this project focuses on the application of Computational Fluid Dynamics (CFD) as a tool to understand the intricacies of cuttings transport (during wellbore cleaning) with drilling fluids of non-Newtonian rheology. Simulations of two-phase solid-liquid flows in an annular domain are carried out, with a detailed analysis on the impact of several drilling parameters (drill pipe eccentricity, inclination angle, drill pipe rotation, bit penetration rate, fluid rheology, and particle properties) on the cuttings concentration, pressure drop profiles, axial fluid, and solid velocities. The influence of the flow regime (laminar and turbulent) on cuttings transport efficiency is also examined using the Eulerian-Eulerian and Lagrangian-Eulerian modelling methods. With experimentally validated simulations, this aspect of the PhD project provides new understanding on the interdependence of these parameters; thus facilitating industrial wellbore cleaning operations. The second part of this project applies mathematical optimisation techniques via reduced-order modelling strategies for the enhancement of petroleum recovery under complex constraints that characterise production operations. The motivation for this aspect of the project stems from the observation that previous PSE-based contributions aimed at enhancing field profitability, often apply over-simplifications of the actual process or neglect some key performance indices due to problem complexity. However, this project focuses on a more detailed computational integration and optimisation of the models describing the whole field development process from the reservoir to the surface facilities to ensure optimal field operations. Nonlinear Programs (NLPs), Mixed-Integer Linear Programs (MILPs), and Mixed-Integer Nonlinear Programs (MINLPs) are formulated for this purpose and solved using high-fidelity simulators and algorithms in open-source and commercial solvers. Compared to previous studies, more flow physics are incorporated and rapid computations obtained, thus enabling real-time decision support for enhanced production in the oil and gas industry

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Planung kooperativer Fahrmanöver für kognitive Automobile

Fahrerassistenzsysteme eröffnen die Möglichkeit für automatische Eingriffe in Gefahrensituationen und bieten dadurch ein Potenzial zur Unfallvermeidung und zur Minimierung der Unfallschwere im Straßenverkehr. Die Handlungen mehrerer kognitiver Fahrzeuge können über Funkkommunikation miteinander koordiniert werden. Diese Dissertation untersucht potenziell echtzeitfähige Bewegungsplanungsalgorithmen zur Planung von Fahrmanövern, die von mehreren Fahrzeugen kooperativ ausgeführt werden können

Social, environmental and economic impacts of alternative energy and fuel supply chains

Energy supply nowadays, being a vital element of a country’s development, has to independently meet diverse, sustainability criteria, be it economic, environmental and social. The main goal of the present research work is to present a methodological framework for the evaluation of alternative energy and fuel Supply Chains (SCs), consisting of a broad topology (representation) suggested, encompassing all the well-known energy and fuel SCs, under a unified scheme, a set of performance measures and indices as well as mathematical model development, formulated as Multi-objective Linear Programming with the extension of incorporating binary decisions as well (Multi-objective Mixed Integer-Linear programming). Basic characteristics of the current modelling approach include the adaptability of the model to be applied at different levels of energy SCs decisions, under different time frames and for multiple stakeholders. Model evaluation is carried for a set of Greek islands, located in the Aegean Archipelagos, examining both the existing energy supply options as well future, more sustainable Energy Supply Chains (ESCs) configurations. Results of the specific research work reveal the social and environmental costs which are underestimated under the traditional energy supply options' evaluation, as well as the benefits that may be produced from renewable energy based applications in terms of social security and employment

Estimating flexibility preferences to resolve temporal scheduling conflicts in activity-based modelling

This paper presents a novel activity-based demand model that combines an optimisation framework for continuous temporal scheduling decisions (i.e. activity timings and durations) with traditional discrete choice models for non-temporal choice dimensions (i.e. activity participation, number and type of tours, and destinations). The central idea of our approach is that individuals resolve temporal scheduling conflicts that arise from overlapping activities, e.g. needing to work and desiring to shop at the same time, in order to maximise their daily utility. Flexibility parameters capture behavioural preferences that penalise deviations from desired timings. This framework has three advantages over existing activity-based modelling approaches: (i) the time conflicts between different temporal scheduling decisions including the activity sequence are treated jointly; (ii) flexibility parameters follow a utility maximisation approach; and (iii) the framework can be used to estimate and simulate a city-scale case study in reasonable time. We introduce an estimation routine that allows flexibility parameters to be estimated using real-world observations as well as a simulation routine to efficiently resolve temporal conflicts using an optimisation model. The framework is applied to the full-time workers of a synthetic population for the city of Lausanne, Switzerland. We validate the model results against reported schedules. The results demonstrate the capabilities of our approach to reproduce empirical observations in a real-world case study