Hierarchical flight management and control of autonomous UAVs based on evolutionary coumputation and total energy concept

Shin Ichiro Higashino, Jeong Ho Kim, Satoshi Kuroyanagi, Akira Sakurai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents a hierarchical flight management and control system for UAVs. The system composed of three layers, i.e. command interpreter layer, path planner layer, and auto-pilot layer. Path planner layer which plans a UAV's path before flight and during flight is focussed in this paper, and it is done in two steps. Macroscopic path planning is done using evolutionary computation, and microscopic planning is done applying total energy concetp especially in terminal phase and emergency landing. In the former, waypoints are directly determined by evolutionary computaion featuring unified way of handling static and dynamic obstacles, and insertion and deletion of the waypoins. In the latter, microscopic path is determined based on total energy concept which is the sum of the potential and kinetic energy, and remaining fuel as energy. Some example off-line calclation results applying these concepts are also presented.

Original languageEnglish
Title of host publicationCollection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit
Pages645-655
Number of pages11
Publication statusPublished - 2004
EventCollection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit - Chicago, IL, United States
Duration: Sep 20 2004Sep 23 2004

Publication series

NameCollection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit
Volume2

Other

OtherCollection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit
CountryUnited States
CityChicago, IL
Period9/20/049/23/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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