• Title/Summary/Keyword: Virtual waypoint

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Multiple UAVs Nonlinear Guidance Laws for Stationary Target Observation with Waypoint Incidence Angle Constraint

  • Kim, Mingu;Kim, Youdan
    • International Journal of Aeronautical and Space Sciences
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    • v.14 no.1
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    • pp.67-74
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    • 2013
  • Nonlinear guidance law combined with a pseudo pursuit guidance is proposed, to perform stationary target observation mission. Multiple UAVs are considered, with waypoint constraint. The whole guidance is divided into two steps: firstly, waypoint approach, with specified incidence angle; and secondly, loitering around the stationary target. Geometric approach is used to consider the constraint on the waypoint, and a specified phase angle between the loitering UAV and the approaching UAV. In the waypoint approach step, UAVs fly to the waypoint using the pseudo pursuit guidance law. After passing the waypoint, UAVs turn around the target, using a distance error dynamics-based guidance law. Numerical simulations are performed, to verify the performance of the proposed guidance law.

Development and Flight Test of Unmanned Autonomous Rotor Navigation System Based on Virtual Instrumentation Platform (Virtual Instrumentation 플랫폼 기반 무인 자율 로터 항법시스템 개발 및 비행시험)

  • Lee, Byoung-Jin;Park, Sang-Jun;Lee, Seung-Jun;Kim, Chang-Joo;Lee, Young-Jae;Sung, Sang-Kyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.8
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    • pp.833-842
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    • 2011
  • The objectives of this research are development of guidance, navigation and control system for RUAV on virtual instrumentation and real flight test. For this research, the system is divided to DAQ (data acquisition) section, actuator section and controller section. And the hardware and software on each sections are realized on LabVIEW base. Waypoint guidance and control of auto flight are realized using PID gain tuning and waypoint vector tracking guidance algorism. For safe flight test, auto/manual switching module isolated from FCS (Flight Control System) is developed. By using the switch module, swift mode change was achieved during emergency flight case. Consequently, a meter level error of flight performance is achieved.

Autonomous Formation Flight Tests of Multiple UAVs (다수 무인항공기의 자동 편대비행 시험)

  • Song, Yong-Kyu;Heo, Chang-Hwan;Lee, Sang-Jun;Kim, Jung-Han
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.38 no.3
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    • pp.264-273
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    • 2010
  • In this work, autonomous formation flight tests of multiple UAVs are experimentally studied. After a guidance and control system for a UAV is designed and tested, PID formation controller for follower UAV is tested using longitudinal and lateral distance feedback. It is shown that more stable and efficient formation guidance system is obtained by using position and attitude of the leader aircraft, which is exploited to calculate virtual waypoint for follower. In order to improve transient response during turn, part of roll command of the leader is added to the guidance command. Finally, autonomous formation flight test results of 3 UAVs are shown by using the best guidance algorithm suggested.

A Ship Motion Control System for Autonomous Navigation (지능형 자율운항제어를 위한 선박운동제어시스템)

  • 이원호;김창민;최중락;김용기
    • Journal of KIISE:Computing Practices and Letters
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    • v.9 no.6
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    • pp.674-682
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    • 2003
  • Ship autonomous navigation is designated as what computerizes mental faculties possessed of navigation experts, which are building navigation plans, grasping the situation, forecasting the fluctuation, and coping with the situation. An autonomous navigation system, which consists of several subsystems such as navigation system, a collision avoidance system, several data fusion systems, and a motion control system, is based on an intelligent control architecture for the sake of integrating the systems. The motion control system, which is one of the most essential system in autonomous navigation system, controls its propulsion and steering gears to move the ship satisfying its hydrodynamic characteristics. This paper is the study on the ship movement control system and its implementation which are totally developed and run on virtual-world system. Receiving the high-level control values such as a waypoint presented from the collision avoidance system, the motion control system generates them to low-level control values for propulsion and steering devices. In the paper, we develop a ship motion controller using Oldenburger's theory based on mathematical fundamentals, and simulate it with various scenarios in order to verify its performance.