Abstract
In this paper, different feedback linearization schemes are studied to address the motion planning problem of fixed-wing unmanned aerial vehicles. For a unmanned aerial vehicle model with second-order dynamics, several schemes are studied to make the vehicle (i) fly over and (ii) make a loitering around the objective position. For each scheme, comparisons are made to illustrate the advantages and disadvantages. Lyapunov stability analysis is used to prove the stability of the proposed schemes, and simulation results for some case studies are included to show their feasibility.
Highlights
In recent years, unmanned aerial vehicles (UAVs) have gained increasing attention for various missions such as remote sensing of agricultural products (Costa et al 2012), forest fire monitoring (Casbeer et al 2006), search and rescue (Almurib et al 2011), transmission line inspection (Li et al 2013) and border monitoring (Beard et al 2006)
Assuming that the UAV flies over the tangent line, its heading will be perpendicular to the radius of the objective circle as it reaches the virtual objective position
The advantage here is that, in the second phase, it is ensured that the heading of the UAV is far from inward-outward direction and scheme #3 can bring the UAV to loiter around the objective position, with desirable radius
Summary
In recent years, unmanned aerial vehicles (UAVs) have gained increasing attention for various missions such as remote sensing of agricultural products (Costa et al 2012), forest fire monitoring (Casbeer et al 2006), search and rescue (Almurib et al 2011), transmission line inspection (Li et al 2013) and border monitoring (Beard et al 2006) To this date, various approaches have been employed to address the motion planning of UAVs to reach, fly over or loiter around an objective position. In Lawton et al (2003), feedback linearization was employed to study the formation control of the endeffector position of a team of non-holonomic robots. The objective here is that the UAV (i) flies over or (ii) loiter around a static objective position, without coming to rest
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