AUTONOMOUS UNMANNED AERIAL VEHICLE FLIGHT ACCURACY EVALUATION FOR THREE DIFFERENT PATH-TRACKING ALGORITHMS

Ramūnas Kikutis,Darius Rudinskas,Jonas Stankūnas

doi:10.3846/transport.2019.11741

Ramūnas Kikutis, Darius Rudinskas + Show 1 more

Open Access

https://doi.org/10.3846/transport.2019.11741

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Journal: Transport	Publication Date: Dec 19, 2019
Citations: 6	License type: cc-by

Affiliation: Vilnius Gediminas Technical University

Abstract

This paper shows mathematical results of three methods, which can be used for Unmanned Aerial Vehicle (UAV) to make transition from one flight leg to another. In paper, we present general equations, which can be used for generating waypoint-switching methods when for experiment purpose mathematical UAV model is used. UAV is modelled as moving dot, which eliminates all of the aerodynamics factors and we can concentrate only on the navigation problems. Lots of attention is dedicated to show possible flight path error values with representation of modelled flight path trajectories and deviations from the flight mission path. All of the modelled flight missions are done in two-dimensional space and all the results are evaluated by looking at Probability Density Function (PDF) values, as we are mostly interested in the probability of the error.

Highlights

Present research shows lots of interest in Unmanned Aerial Vehicle (UAV) navigation, guidance, path tracking, mission and path planning algorithms (Maillot et al 2015)
This paper shows mathematical results of three methods, which can be used for Unmanned Aerial Vehicle (UAV) to make transition from one flight leg to another
We present general equations, which can be used for generating waypoint-switching methods when for experiment purpose mathematical UAV model is used

Summary

Introduction

Present research shows lots of interest in Unmanned Aerial Vehicle (UAV) navigation, guidance, path tracking, mission and path planning algorithms (Maillot et al 2015). Research in these fields include UAV path planning under uncertainties, coordinated flight control, detection of ground obstacles, mapping etc. Integration of the UAVs into national airspace requires more detailed evaluation not just of the new and more sophisticated UAV autonomous navigation or path tracking algorithms, and their accuracy (Dadkhah, Mettler 2012). The same is true for the guidance part of the search and avoid algorithm (Wang et al 2016) For this reason, we need to pay more attention to flight path accuracy. Still not much attention is paid to flight accuracy

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