Autonomous unmanned aerial vehicle flight accuracy evaluation for three different path-tracking algorithms

Transport

Darius Rudinskas¹  Jonas Stankūnas¹  Ramūnas Kikutis² 

[1] Dept of Aeronautical Engineering, Vilnius Gediminas Technical University, Lithuania;Dept of Aviation Technologies, Vilnius Gediminas Technical University, Lithuania;

关键词: navigation;    Dubins paths;    waypoint-switching method;    flight path error;    unmanned aerial vehicle;    dynamic model;   

DOI  :  10.3846/transport.2019.11741

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown