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Waypoint Navigation of Small-Scale UAV incorporating Dynamic Soaring

Published online by Cambridge University Press:  26 November 2010

O. K. Ariff  and
T. H. Go
O. K. Ariff*
Affiliation:
(Nanyang Technological University, Singapore)
T. H. Go
Affiliation:
(Nanyang Technological University, Singapore)
*
(Email: OMAR@ntu.edu.sg)
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Abstract

The latest attempts at improving small scale autonomously guided Uninhabited Aerial Vehicles (UAVs) have concentrated around the increase of range and speed. One of these ways is to incorporate dynamic slope soaring manoeuvres as part of the flight path. This is in contrast to most conventional path-planning algorithms where waypoint guidance is merged with terrain avoidance or contour following capability. Additionally, current trajectory optimization techniques are iterative and so have a considerable computational load. The proposed algorithm is based on Dubin's curves, and is therefore optimal by definition. Being non-iterative, it is comparatively a more efficient algorithm. Hence, a key advantage of the proposed technique is that the desired trajectory is generated quickly in real time with minimum computational load while satisfying the spatial constraints of dynamic slope soaring.

Keywords

dynamic soaringpath planning algorithmDubin's curvedifferential geometry
Type
Research Article
Information
The Journal of Navigation , Volume 64 , Issue 1 , January 2011 , pp. 29 - 44
Copyright
Copyright © The Royal Institute of Navigation 2010

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