Limit-cycle navigation method for a quad-rotor type UAV

Author

Min, S.C. ; Lee, EJ ; Kang, S.H. ; Kim, D.H.

Author_Institution

Dept. of Electr. Eng., Kyung Hee Univ., Yongin, South Korea

fYear

2009

fDate

5-8 July 2009

Firstpage

1352

Lastpage

1357

Abstract

This paper presents a navigation method for UAVs in certain environments. Limit-cycle navigation method for path planning is implemented on the maneuverable quad-rotor type UAV using limit-cycle characteristics of the 2nd-order nonlinear function. Furthermore, for path planning in three dimensions, the paper extends the limit-cycle method limited in two dimensions to three dimensions. Besides, the dynamics of a quad-rotor aircraft is analyzed so that the autonomous flight system for avoiding fixed obstacles can be carried out. Finally, simulation results are provided in order to illustrate effectiveness and merits of the proposed method for the autonomous path planning.

Keywords

aircraft; collision avoidance; mobile robots; remotely operated vehicles; 2nd-order nonlinear function; autonomous flight system; limit-cycle navigation method; path planning; quad-rotor aircraft dynamics; quad-rotor type UAV; unmanned aerial vehicle; Aircraft navigation; Aircraft propulsion; Character generation; Clocks; Industrial electronics; Limit-cycles; Military aircraft; Path planning; Surveillance; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on

Conference_Location

Seoul

Print_ISBN

978-1-4244-4347-5

Electronic_ISBN

978-1-4244-4349-9

Type

conf

DOI

10.1109/ISIE.2009.5221316

Filename

5221316