Unmanned Aerial Vehicles (UAVs) are increasingly being proposed and used for a wide range of civilian applications. A subclass of fixed-wing UAVs, known as Unmanned Aerial Gliders (UAGs), are particularly well-suited to applications involving long endurance and range. An ongoing challenge to achieve full autonomy for these aircraft, is to improve the detection and exploitation of rising air masses (thermals). This paper proposes a turn decision-making algorithm for improved thermal exploitation with UAGs. The algorithm monitors netto-variometer data composed of vehicle states to identify the presence of thermal updraft. Following thermal detection, a turn decision into the thermal is made based on the induced roll effects on the UAG due to updraft wind gradients. Once inside the rising air mass, the thermal center location is estimated using the centroid method. The effects of turn decisions on thermalling performance are initially examined in a batch simulation involving various thermal properties and wind conditions, implemented in MATLAB/Simulink. The algorithm is subsequently integrated into the PX4 flight stack for flight testing and results demonstrate the performance of the algorithm and improved thermalling when making intelligent turn decisions to capture a thermal.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Turn Decision-Making for Improved Autonomous Thermalling of Unmanned Aerial Gliders


    Beteiligte:
    Tin, Fares El (Autor:in) / Borowczyk, Alexandre (Autor:in) / Sharf, Inna (Autor:in) / Nahon, Meyer (Autor:in)


    Erscheinungsdatum :

    2020-09-01


    Format / Umfang :

    917397 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Autonomous unmanned aerial vehicle decision-making

    MCGREW JAMES STATELAR / VIAN JOHN LYLE | Europäisches Patentamt | 2017

    Freier Zugriff

    Autonomous Unmanned Aerial Vehicle Decision-Making

    MCGREW JAMES STATELAR / VIAN JOHN LYLE | Europäisches Patentamt | 2016

    Freier Zugriff

    AUTONOMOUS UNMANNED AERIAL VEHICLE DECISION-MAKING

    MCGREW JAMES STATELAR / VIAN JOHN LYLE | Europäisches Patentamt | 2022

    Freier Zugriff

    Guidance of Unmanned Aerial Gliders for Wildfire Surveillance

    El Tin, Fares / Sharf, Inna / Nahon, Meyer | AIAA | 2020


    GUIDANCE OF UNMANNED AERIAL GLIDERS FOR WILDFIRE SURVEILLANCE

    Tin, Fares El / Sharf, Inna / Nahon, Meyer | TIBKAT | 2020