63284

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Статья в журнале/сборнике

Название: 

Algorithmization of Autonomous Landing of Unmanned Aerial Vehicles by “Flexible” Kinematic Trajectories

DOI: 

10.1007/978-3-030-66895-2_12

Наименование источника: 

  • Communications in Computer and Information Science

Обозначение и номер тома: 

vol 1304

Город: 

  • Cham

Издательство: 

  • Springer

Год издания: 

2020

Страницы: 

181-200
Аннотация
The final and one of the most important stages of the aircraft-type unmanned aerial vehicles (UAV) flight is landing. In this regard, the problem of automating the control by UAV landing in difficult meteorological conditions is becoming increasingly urgent. In some cases, for refueling and recharging UAVs it is advisable to use the dynamic mobile landing site (MLS) instead of the traditional stationary landing site (SLS). In the present paper, we consider the setting and solution of the control problem by the terminal landing maneuver of a UAV. It provides its transfer from the current initial state to the target final state along “flexible” kinematic trajectories both on the SLS and on the MLS. To solve the problem of the automatic landing of UAV on SLS or MLS the mathematical model of the dynamics of its movement was developed. It’s based on the concept of “flexible” kinematic trajectories with spatial synchronization of controlled movements. The control algorithm by the terminal vertical landing maneuver of UAV on SLS by the method of dynamics inverse problem using the principle of “flexible” kinematic trajectories is developed. Also, the control algorithm by the terminal landing maneuver of UAV on MLS by the method of dynamics inverse problems using the principles of “flexible” kinematic trajectories and aiming into the target point was also developed. Computer approbation of the synthesized control algorithms for the landing maneuver of UAV «Aerosonde» under conditions of various wind disturbances was carried out using digital modeling in the Matlab environment.

Библиографическая ссылка: 

Сергеев А.А., Филимонов А.Б., Филимонов Н.Б. Algorithmization of Autonomous Landing of Unmanned Aerial Vehicles by “Flexible” Kinematic Trajectories // Communications in Computer and Information Science. 2020. vol 1304. С. 181-200 .