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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルCollection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit
ページ645-655
ページ数11
出版ステータス出版済み - 2004
イベントCollection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit - Chicago, IL, 米国
継続期間: 9 20 20049 23 2004

出版物シリーズ

名前Collection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit
2

その他

その他Collection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit
国/地域米国
CityChicago, IL
Period9/20/049/23/04

All Science Journal Classification (ASJC) codes

  • 工学(全般)

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