Cooperative Path Planning of Unmanned Aerial Vehicles (Aerospace Series (PEP))

An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry. Contents......Page 6 About the Authors......Page 10 Series Preface......Page 12 Preface......Page 13 Acknowledgements......Page 14 List of Figures......Page 16 List of Tables......Page 21 Nomenclature......Page 22 Introduction......Page 23 1.1 Path Planning Formulation......Page 24 1.2 Path Planning Constraints......Page 25 1.3 Cooperative Path Planning and Mission Planning......Page 29 1.4 Path Planning – An Overview......Page 32 1.5 The Road Map Method......Page 35 1.7 Potential Field......Page 38 1.8 Cell Decomposition......Page 39 1.10 Optimization Techniques......Page 40 1.11 Trajectories for Path Planning......Page 41 1.12 Outline of the Book......Page 42 Path Planning in Two Dimensions......Page 51 2.1 Dubins Paths......Page 52 2.2 Designing Dubins Paths using Analytical Geometry......Page 53 2.3 Existence of Dubins Paths......Page 59 2.5 Design of Dubins Paths using Principles of Differential Geometry......Page 61 2.6 Paths of Continuous Curvature......Page 67 2.7 Producing Flyable Clothoid Paths......Page 68 2.8 Producing Flyable Pythagorean Hodograph Paths (2D)......Page 78 Path Planning in Three Dimensions......Page 87 3.1 Dubins Paths in Three Dimensions Using Differential Geometry......Page 89 3.3 Pythagorean Hodograph Paths–3D......Page 94 3.4 Design of Flyable Paths Using PH Curves......Page 96 Collision Avoidance......Page 103 4.1 Research into Obstacle Avoidance......Page 105 4.2 Obstacle Avoidance for Mapped Obstacles......Page 107 4.3 Obstacle Avoidance of Unmapped Static Obstacles......Page 125 4.4 Algorithmic Implementation......Page 128 Path-Following Guidance......Page 141 5.1 Path Following the Dubins Path......Page 142 5.2 Linear Guidance Algorithm......Page 146 5.3 Nonlinear Dynamic Inversion Guidance......Page 148 5.4 Dynamic Obstacle Avoidance Guidance......Page 154 Path Planning for Multiple UAVs......Page 169 6.1 Problem Formulation......Page 171 6.2 Simultaneous Arrival......Page 173 6.4 Phase II: Producing Feasible Paths......Page 174 6.6 Multiple Path Algorithm......Page 178 6.7 Algorithm Application for Multiple UAVs......Page 179 6.8 2D Pythagorean Hodograph Paths......Page 184 6.9 3D Dubins Paths......Page 187 6.10 3D Pythagorean Hodograph Paths......Page 191 Differential Geometry......Page 197 Pythagorean Hodograph......Page 205 Index......Page 209 An invaluable addition to the literature on unmanned aerial vehicle (UAV) guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure that a UAV completes its mission efficiently, safely and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea or space-bourne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry. * Includes chapters on path planning, 3-D path planning, cooperative path planning, path planning in complex environments as well as guidance for accurate path following and sense and avoid algorithms to deal with collision avoidance. * Approaches the solution to UAV path planning via two phases: producing paths to meet curvature constraints - the flyable paths, and then tuning the flyable paths to meet the mission demands. * Describes flyable path approaches using composite curves using Dubins and Clothoid principles, and continuous curves using Pythagorean Hodograph principles; and extends these approaches to cater for the complex problem of obstacle avoidance. -- Book Description

An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure that a UAV completes its mission efficiently, safely and successfully.

Focussing on the path planning of multiple UAVs for simultaneous arrival on target. Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea or space-borne vehicles.

Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.

Includes chapters on path planning, 3-D path planning, cooperative path planning, path planning in complex environments as well as guidance for accurate path following and sense and avoid algorithms to deal with collision avoidance

Approaches the solution to UAV path planning via two phases: producing paths to meet curvature constraints - the flyable paths, and then tuning the flyable paths to meet the mission demands

Describes flyable path approaches using composite curves using Dubins and Clothoid principles, and continuous curves using Pythagorean Hodograph principles; and extends these approaches to cater for the complex problem of obstacle avoidance.