Experimental Evaluation of Panel-Method-Based Path Planning for eVTOL in A Scaled Urban Environment

Date

2022-01-01

Author

Ünal, Zeynep
Bronz, Murat
Yavrucuk, İlkay

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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In this study, previously proposed panel method based path planning for electric vertical take off and landing vehicles in urban environments is tested in a high fidelity simulation environment and with real-life drones in an indoor flight arena. Panel method is a numerical tool, borrowed form fluid dynamics domain, that can generate collision free paths for multiple vehicles in environments with arbitrarily shaped obstacles while guaranteeing obstacle avoidance and convergence to global minima with little computational load. In this study, panel method based path planning is further improved with introduction of novel safety source element that enables a safety perimeter around obstacles without losing convergence guarantee. Furthermore, path planning capability of panel method for electric vertical take off and landing vehicles in urban environments is demonstrated with hardware experiments in a scaled urban environment. Experiment results indicate that panel method is a promising tool for path planning in urban environments.

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85135011205&origin=inward
https://hdl.handle.net/11511/101382

Conference Name

78th Vertical Flight Society Annual Forum and Technology Display, FORUM 2022

Collections

Department of Aerospace Engineering, Conference / Seminar

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Citation Formats

Z. Ünal, M. Bronz, and İ. Yavrucuk, “Experimental Evaluation of Panel-Method-Based Path Planning for eVTOL in A Scaled Urban Environment,” presented at the 78th Vertical Flight Society Annual Forum and Technology Display, FORUM 2022, Texas, Amerika Birleşik Devletleri, 2022, Accessed: 00, 2023. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85135011205&origin=inward.