In this work, a vision-based Flight Guidance and Navigation System is developed for providing cross-country soaring functionality to a small UAV glider. The overall system is based on existing major contributions to autonomous soaring while still missing components have been designed. A cumulus-cloud mapping algorithm was extended to not only estimate the position of cumuli but also their drift velocity and their updraft strength both factors with a significant impact on cross-country soaring performances. A guidance law was developed to navigate the vehicle during final glide from the last visited cloud to the destination given flight performance, mission and wind constraints. A path planning algorithm is proposed to then guide the vehicle in minimum time to its destination. Simulations were conducted in a nonlinear 6-DOF simulator for a small UAV glider to demonstrate the benefits of the system.


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    Titel :

    A vision-based Flight Guidance and Navigation System for autonomous cross-country soaring UAVs


    Beteiligte:
    Stolle, Martin (Autor:in) / Bolting, Jan (Autor:in) / Doll, Carsten (Autor:in) / Watanabe, Yoko (Autor:in)


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    4986663 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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