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Integration of Path/Maneuver Planning in Complex Environments for Agile Maneuvering UCAVs

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Selected papers from the 2nd International Symposium on UAVs, Reno, Nevada, U.S.A. June 8–10, 2009

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Abstract

In this work, we consider the problem of generating agile maneuver profiles for Unmanned Combat Aerial Vehicles in 3D Complex environments. This problem is complicated by the fact that, generation of the dynamically and geometrically feasible flight trajectories for agile maneuver profiles requires search of nonlinear state space of the aircraft dynamics. This work suggests a two layer feasible trajectory/maneuver generation system. Integrated Path planning (considers geometrical, velocity and acceleration constraints) and maneuver generation (considers saturation envelope and attitude continuity constraints) system enables each layer to solve its own reduced order dimensional feasibility problem, thus simplifies the problem and improves the real time implement ability. In Trajectory Planning layer, to solve the time depended path planning problem of an unmanned combat aerial vehicles, we suggest a two step planner. In the first step, the planner explores the environment through a randomized reachability tree search using an approximate line segment model. The resulting connecting path is converted into flight way points through a line-of-sight segmentation. In the second step, every consecutive way points are connected with B-Spline curves and these curves are repaired probabilistically to obtain a geometrically and dynamically feasible path. This generated feasible path is turned in to time depended trajectory with using time scale factor considering the velocity and acceleration limits of the aircraft. Maneuver planning layer is constructed upon multi modal control framework, where the flight trajectories are decomposed to sequences of maneuver modes and associated parameters. Maneuver generation algorithm, makes use of mode transition rules and agility metric graphs to derive feasible maneuver parameters for each mode and overall sequence. Resulting integrated system; tested on simulations for 3D complex environments, gives satisfactory results and promises successful real time implementation.

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Author information

Authors and Affiliations

  1. Controls and Avionics Laboratory, Istanbul Technical University, Istanbul, Turkey

    Emre Koyuncu & N. Kemal Ure

  2. Faculty of Aeronautics and Astronautics, Istanbul Technical University, Istanbul, Turkey

    Gokhan Inalhan

Authors
  1. Emre Koyuncu
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  2. N. Kemal Ure
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  3. Gokhan Inalhan
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Corresponding author

Correspondence to Emre Koyuncu .

Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, CMK 300 School of Engineering and Computer Science, University of Denver, Denver, CO, 80208, USA

    Kimon P. Valavanis

  2. Dept. Electrical & Computer Engineering, Brigham Young University, Provo, UT, 84602, USA

    Randal Beard

  3. Applied Engineering Technology Program, Drexel University, 3001 One Drexel Plaza, Market St., Philadelphia, PA, 19104, USA

    Paul Oh

  4. Depto. Ingeniera Sistemas y Automática Camino de los Descubrimientos, Universidad de Sevilla Escuela Superior de Ingenieros, s/n 41092, Sevilla, Spain

    Aníbal Ollero

  5. Dept. Computer Science & Engineering, University of South Florida, 4202 E. Fowler Ave., Tampa, FL, 33620, USA

    Leslie A. Piegl

  6. Korea Advanced Institute of Science & Technology (KAIST), Department of Aerospace Engineering, 373-1 Guseong-dong Daejeon 305-701 Yuseong-gu, Republic of South Korea

    Hyunchui Shim

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Koyuncu, E., Ure, N.K., Inalhan, G. (2009). Integration of Path/Maneuver Planning in Complex Environments for Agile Maneuvering UCAVs. In: Valavanis, K.P., Beard, R., Oh, P., Ollero, A., Piegl, L.A., Shim, H. (eds) Selected papers from the 2nd International Symposium on UAVs, Reno, Nevada, U.S.A. June 8–10, 2009. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-8764-5_8

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  • DOI: https://doi.org/10.1007/978-90-481-8764-5_8

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-8763-8

  • Online ISBN: 978-90-481-8764-5

  • eBook Packages: EngineeringEngineering (R0)

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