Panel-Method-Based Path Planning and Collaborative Target Tracking for Swarming Micro Air Vehicles

Date

2010-03-01

Author

Uzol, Oğuz
Yavrucuk, İlkay

Metadata

Show full item record

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

Item Usage Stats

51
views

0
downloads

This paper presents an application of the potential field panel method commonly used in aerodynamics analysis to obtain streamlinelike trajectories and use them for path planning and collaborative target tracking for swarming micro air vehicles in an urban environment filled with complex shaped buildings and other architectural structures. In addition, we introduce a performance matching technique that relates the flu id velocities, which are obtained as a part of the panel method solution, to vehicle velocities along each trajectory. The approach is further extended to track moving targets yet avoid obstacles and collision between the vehicles. Because of the inherent nature of streamlines, obstacle avoidance is automatically guaranteed. To make the micro air vehicles follow and track a moving target, dynamically changing streamline patterns are calculated for each and every one of the micro air vehicles within a swarm. To prevent vehicle-to-vehicle collisions, each micro air vehicle is represented using a point source singularity element within the potential field. The simulation results are quite encouraging, in the sense that micro air vehicle swarms quickly locate and track the assigned target in an environment filled with complex-shaped structures while avoiding obstacles and collisions among themselves. One benefit of the method is that the trajectory computations can be relatively fast and even have the potential to be applied in real time, depending on the number and complexity of the urban structures.

Subject Keywords

Aerospace Engineering

URI

https://hdl.handle.net/11511/38150

Journal

JOURNAL OF AIRCRAFT

DOI

https://doi.org/10.2514/1.45469

Collections

Department of Aerospace Engineering, Article

Suggestions

OpenMETU
Core

Near-surface topology of unmanned combat air vehicle planform: Reynolds number dependence Elkhoury, M; Yavuz, Mehmet Metin; Rockwell, D (American Institute of Aeronautics and Astronautics (AIAA), 2005-09-01) The Reynolds number dependence of the near-surface flow structure and topology on a representative unmanned combat air vehicle planform is characterized using a technique of high-image-density particle image velocimetry, to complement classical dye visualization. Patterns of streamline topology, including bifurcation lines, as well as contours of streamwise and transverse velocity, surface-normal vorticity, and Reynolds stress correlation, all immediately adjacent to the surface of the planform, provide qua...
Aerodynamic design and optimization of horizontal axis wind turbines by using bem theory and genetic algorithm Ceyhan, Özlem; Tuncer, İsmail Hakkı; Department of Aerospace Engineering (2008) An aerodynamic design and optimization tool for wind turbines is developed by using both Blade Element Momentum (BEM) Theory and Genetic Algorithm. Turbine blades are optimized for the maximum power production for a given wind speed, a rotational speed, a number of blades and a blade radius. The optimization variables are taken as a fixed number of sectional airfoil profiles, chord lengths, and twist angles along the blade span. The airfoil profiles and their aerodynamic data are taken from an airfoil datab...
Attitude estimation and magnetometer calibration using reconfigurable TRIAD plus filtering approach Söken, Halil Ersin (Elsevier BV, 2020-04-01) This paper proposes using TRIAD and Unscented Kalman Filter (UKF) algorithms in a sequential architecture as a part of a small satellite attitude estimation algorithm. This TRIAD+UKF approach can both provide accurate attitude estimates for the satellite and calibrate the magnetometers in real-time. A complete calibration model for the magnetometers, considering bias, scale factor, soft iron and nonorthogonality errors, is assumed. In the algorithm's first stage, the TRIAD uses the available vector measurem...
Design and analysis of a structural component of a heavy transport aircraft Çıkrıkcı, Davut; Yaman, Yavuz; Department of Aerospace Engineering (2010) This thesis aims to present the design and analysis of a structural component of a heavy transport aircraft. The designed component is the “coupling“ which is the interface member connecting two frames or two stringers in the fuselage assembly. The “frames”, which are the circumferential stiffeners, are joined together by the “frame couplings”. The “stringers”, which are the longitudinal stiffeners, are joined together by the “stringer couplings”. At the preliminary design phase; the structural design princ...
Flight simulation and control of a helicopter Erçin, Gülsüm Hilal; Tekinalp, Ozan; Department of Aerospace Engineering (2008) In this thesis the development of a nonlinear simulation model of a utility helicopter and the design of its automatic flight control system is addressed. In the first part of this thesis, the nonlinear dynamic model for a full size helicopter is developed using the MATLAB/SIMULINK environment. The main rotor (composed of inflow and flapping dynamics parts), tail rotor, fuselage, vertical stabilizer, horizontal stabilizer of the helicopter are modeled in order to obtain the total forces and moments needed f...

Citation Formats

O. Uzol and İ. Yavrucuk, “Panel-Method-Based Path Planning and Collaborative Target Tracking for Swarming Micro Air Vehicles,” JOURNAL OF AIRCRAFT, pp. 544–550, 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/38150.