UNIFORM FLIGHT PATH PLANNING FOR SURVEILLANCE AND OBSTACLE AVOIDANCE BASED ON STABLE LIMIT CYCLE CONCEPT

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HAKIMI A.; BINAZADEH T.; Shafiei M.H.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Seminar Paper

Paper Information

Seminar: CONFERENCE OF IRANIAN AEROSPACE SOCIETY
Year:2015 | Issue:14

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Title

UNIFORM FLIGHT PATH PLANNING FOR SURVEILLANCE AND OBSTACLE AVOIDANCE BASED ON STABLE LIMIT CYCLE CONCEPT

Author(s)

HAKIMI A. | BINAZADEH T. | Shafiei M.H.

Keywords

CIRCULAR LIMIT CYCLE

PATH PLANNINGOBSTACLE AVOIDANCE

UAV

Abstract

THIS PAPER PROPOSES A METHOD TO GENERATE A UNIFORM FLIGHT PATH FOR SURVEILLANCE OF A REGION, USING THE LIMIT CYCLE CONCEPT. THE PROPOSED METHOD IS BASED ON THE LIMIT CYCLE CHARACTERISTIC OF SECOND ORDER NONLINEAR SYSTEMS FOR REAL-TIME FLIGHT PATH PLANNING FOR UAVS. THE GENERATED FLIGHT PATH COVERS WHOLE AREA OF A CIRCLE WITH ARBITRARY RADIUS AND DENSITY OF THE TRAJECTORIES. UAVS BY TRACKING SUCH TRAJECTORIES ARE ABLE TO GET THE PRECISE AERIAL PHOTOS OR MOVIES (OR ANOTHER TASK WHICH NEEDS SUCH A TRAJECTORY). THE PROPOSED REAL-TIME FLIGHT PATH IS DIVIDED TO THREE MAIN PHASES; IN THE FIRST PHASE, THE UAV TAKES OFF FROM THE LAUNCH STATION AND MOVES TO THE NEAR OF THE CENTER OF THE CONSIDERED CIRCULAR SIGHTLY AREA FOR GETTING THE AERIAL PHOTOS OR MOVIES. THIS PHASE IS ALSO DONE BASED ON THE LIMIT CYCLE NAVIGATION METHOD TO GENERATE THE SAFE TRAJECTORY AGAINST THE OBSTACLES (OBSTACLE AVOIDANCE USING LIMIT CYCLE NAVIGATION). IN THE SECOND PHASE, THE FLYING OBJECT TRACKS A UNIFORM HELICOIDAL TRAJECTORY TO REACH THE CIRCULAR LIMIT CYCLE, TO SCAN A CIRCULAR SIGHTLY AREA, COMPLETELY. IN THE LAST PHASE, WHEN THE SCANNING OF THE SIGHTLY AREA HAS BEEN ACCOMPLISHED, THE UAV COMES BACK TO THE LAUNCH STATION ON THE TRAJECTORY THAT PRODUCED BY A SIMILAR PROCEDURE OF THE FIRST PHASE. FINALLY, SOME SIMULATIONS ARE CARRIED OUT TO SHOW THE FLIGHT PATH GENERATED BY THIS IDEA.

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APA: Copy

HAKIMI, A., BINAZADEH, T., & Shafiei, M.H.. (2015). UNIFORM FLIGHT PATH PLANNING FOR SURVEILLANCE AND OBSTACLE AVOIDANCE BASED ON STABLE LIMIT CYCLE CONCEPT. CONFERENCE OF IRANIAN AEROSPACE SOCIETY. SID. https://sid.ir/paper/945739/en

Vancouver: Copy

HAKIMI A., BINAZADEH T., Shafiei M.H.. UNIFORM FLIGHT PATH PLANNING FOR SURVEILLANCE AND OBSTACLE AVOIDANCE BASED ON STABLE LIMIT CYCLE CONCEPT. 2015. Available from: https://sid.ir/paper/945739/en

IEEE: Copy

A. HAKIMI, T. BINAZADEH, and M.H. Shafiei, “UNIFORM FLIGHT PATH PLANNING FOR SURVEILLANCE AND OBSTACLE AVOIDANCE BASED ON STABLE LIMIT CYCLE CONCEPT,” presented at the CONFERENCE OF IRANIAN AEROSPACE SOCIETY. 2015, [Online]. Available: https://sid.ir/paper/945739/en

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