Unmanned Aerial Vehicle Coordination on Closed Convex Paths in Wind

Laszlo Techy; Derek A. Paley; Craig A. Woolsey

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Unmanned Aerial Vehicle Coordination on Closed Convex Paths in Wind

机译：风中的封闭凸路径上的无人机协调

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This Note adapted a multi-UAV control algorithm for motion around strictly convex closed paths in steady, uniform wind. The control algorithm steers an arbitrary number of particles to a coordinated state in which all of the particles orbit the same strictly convex closed path. The temporal separation between particles is coordinated to be uniform and constant. If a desired path contains a straight segment, one may construct a circular arc that approximates this segment with arbitrary precision. This Note demonstrated the method's effectiveness for two examples: control-volume sampling and perimeter defense. In the control-volume sampling problem, two UAVs sample the air around the boundaries of a fixed volume to'estimate the net rate of outflow of particles across the boundaries.

机译：本说明采用了多UAV控制算法，以在稳定，均匀的风中围绕严格凸的封闭路径运动。控制算法将任意数量的粒子引导到协调状态，在该状态下，所有粒子都围绕同一严格凸的封闭路径运行。粒子之间的时间间隔被协调为均匀且恒定。如果期望的路径包含一个直线段，则可以构建一个以任意精度近似于该段的圆弧。本说明通过两个示例演示了该方法的有效性：控制量采样和外围防御。在控制量采样问题中，两个无人飞行器对固定体积边界周围的空气进行采样，以估计颗粒在边界上的净流出速率。

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《Journal of guidance, control, and dynamics》 |2010年第6期|p.1946-1951|共6页
作者
Laszlo Techy; Derek A. Paley; Craig A. Woolsey;
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University of Washington, Seattle, Washington 98195;

University of Maryland, College Park, Maryland 20742;

Virginia Polytechnic Institute and State University,Blacksburg, Virginia 24061;

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1. Unmanned Aerial Vehicle Coordination on Closed Convex Paths in Wind [J] . Laszlo Techy∗ Derek A. Paley†Craig A. Woolsey‡ Journal of Guidance, Control, and Dynamics . 2010,第6期

机译：风中的封闭凸路径上的无人机协调
2. Efficient unmanned aerial vehicle formation rendezvous trajectory planning using Dubins path and sequential convex programming [J] . Wang Zhu, Liu Li, Long Teng, Engineering Optimization . 2019,第7a9期

机译：高效无人驾驶飞行器形成配合轨迹规划，使用Dubins路径和顺序凸编程
3. Vector Field Based Sliding Mode Control of Curved Path Following for Miniature Unmanned Aerial Vehicles in Winds [J] . WANG Yajing, WANG Xiangke, ZHAO Shulong, 系统科学与复杂性：英文版 . 2018,第001期

机译：基于矢量场的微型无人机在风中曲线路径跟随滑模控制
4. Dispersed Cyber-Physical Coordination and Path Planning Using Unmanned Aerial Vehicle [C] . A. Bulgakov, D. Sayfeddine, T. Bock, International Symposium on Automation and Robotics in Construction and Mining . 2019

机译：使用无人空中车辆分散的网络地理协调和路径规划
5. Improving path planning of unmanned aerial vehicles in an immersive environment using meta-paths and terrain information. [D] . Swartzentruber, Levi Daniel. 2009

机译：利用元路径和地形信息，改善沉浸式环境中无人机的路径规划。
6. Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind [O] . He Luo, Zhengzheng Liang, Moning Zhu, -1

机译：稳定风下无人机任务分配与路径规划的集成优化
7. Wind-energy based path planning for unmanned aerial vehicles using Markov decision processes [O] . Al-Sabban Wesam H., Gonzalez Luis F., Smith Ryan N. 2013

机译：基于马尔可夫决策过程的基于风能的无人机航路规划

Unmanned Aerial Vehicle Coordination on Closed Convex Paths in Wind

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