A path generator is proposed for a fixed-wing Unmaned Aereal Vehicle (UAV). Assuming that the vehicle maintain a constant altitude, and airspeed, and that the UAV is constrained by a turning rate. The Dubins paths serve as a strategy to find the shortest path for the non-holonomic model of the UAV. Dubins paths consist of three path segments which are based on straight lines or arcs of circle of a given radius. The Dubins path generation is combined with a nonlinear Lypaunov-based path-following control. Finally we present a complete simulation environment in which the path generator and path following strategy are validated. As an example of application we propose the scenario in which a missing person is located in some known area and we use the path generator along with this path-following strategy applied to the fixed wing UAV to search and find this person.


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    Title :

    Dubins path generation for a fixed wing UAV


    Contributors:


    Publication date :

    2014-05-01


    Size :

    2612545 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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