Title :
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
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;
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
DOI :
10.1109/ISIE.2009.5221316
