Evaluation of straight and loiter path following algorithms for UAVs

• Grant number: 17/21303-2
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: November 01, 2017
• End date: October 31, 2019
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computer Systems
• Principal Investigator: Kalinka Regina Lucas Jaquie Castelo Branco
• Grantee: Daniel Martin Xavier
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

An aircraft is considered an Unmanned Aerial Vehicle (UAV) when the opera without a human way, since it is piloted remotely. This allows its autonomous operation and autopilot, a set of hardware and software responsible for collecting data from the environment, processing and sending commands to the aircraft actuators. In addition to maintaining working conditions throughout the flight, the autopilot should also perform navigational tasks, such as tracking trajectories defined by waypoints. These trajectories can be divided into rectilinear and circular trajectories, requiring different strategies and algorithms for each of them. Thus, this work deals with the development and comparison of different trajectory tracking algorithms for VANTs contemplating the two most common trajectories. To represent the system with greater physical fidelity, be also used in the X-Plane flight simulator for an execution of the experiments, requiring a greater challenge with an integration of the simulator with the MATLAB development environment. In this way, it is possible to observe the behavior of the algorithms also with a variation of the environment, as in the presence of wind gusts. It is expected, therefore, to obtain a comparison in terms of the measurement of the algorithms and the effort required by the aircraft actuators, aiming at a correction in terms of desired trajectories at a lower energy cost. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

XAVIER, DANIEL M.; SILVA, NATASSYA B. F.; BRANCO, KALINKA R. L. J. C.. Path-following Algorithms Comparison using Software-in-the-Loop Simulations for UAVs. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v. 106, n. 3, p. 17-pg., 2022-11-01. (17/21303-2)

XAVIER, DANIEL M.; SILVA, NATASSYA B. F.; BRANCO, KALINKA R. L. J. C.; IEEE. Path-following algorithms comparison using Software-in-the-Loop simulations for UAVs. 2019 IEEE SYMPOSIUM ON COMPUTERS AND COMMUNICATIONS (ISCC), v. N/A, p. 6-pg., 2019-01-01. (17/21303-2)

XAVIER, DANIEL M.; SILVA, NATASSYA B. F.; BRANCO, KALINKA R. L. J. C.; IEEE. Comparison of path-following algorithms for loiter paths of Unmanned Aerial Vehicles. 2018 IEEE SYMPOSIUM ON COMPUTERS AND COMMUNICATIONS (ISCC), v. N/A, p. 6-pg., 2018-01-01. (17/21303-2)