Cooperative Beam-Rider Guidance for Unmanned Aerial Vehicle Rendezvous

Cooperative Beam-Rider Guidance for Unmanned Aerial Vehicle Rendezvous The problem of aerial rendezvous of Unmanned Aerial Vehicles (UAVs) is considered. Beam rider approach, wherein the follower moves along a beam directed from a ground-based tracker onto the leader is proposed as a guidance strategy. Analytic guarantee for a resulting rendezvous between two same speed vehicles is derived from the line-of-sight guidance principles. Considering an approximate variation of the follower look-ahead angle, closed-form expressions are derived for time-to-rendezvous and follower lateral acceleration. Cooperative maneuvers are proposed for the leader minimizing the rendezvous engagement time. Guidance models are extended to 3D engagements and efficacy of the proposed method is demonstrated by extensive 2D and 3D simulations. Simulation results are presented complying with the analytic findings. Robustness of the proposed approach is verified against uncompensated autopilot delays, non-identical initial speeds, and wind. Keywords UAV guidance · Aerial rendezvous · Line-of-sight guidance · Cooperative guidance strategies 1 Introduction applications, the control input can be applied in any desired directions. However, in the case of UAVs, the lateral UAVs can be efficiently engaged in surveillance of acceleration is provided by the lift which acts normal to complicated terrains, aerial photography, disaster damage the velocity. This presents a general limitation for multi- estimation, http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Journal of Intelligent & Robotic Systems Springer Journals

Cooperative Beam-Rider Guidance for Unmanned Aerial Vehicle Rendezvous

Loading next page...
 
/lp/springer_journal/cooperative-beam-rider-guidance-for-unmanned-aerial-vehicle-rendezvous-y1bwjsJ2q4
Publisher
Springer Netherlands
Copyright
Copyright © 2018 by Springer Science+Business Media B.V., part of Springer Nature
Subject
Engineering; Control, Robotics, Mechatronics; Electrical Engineering; Artificial Intelligence (incl. Robotics); Mechanical Engineering
ISSN
0921-0296
eISSN
1573-0409
D.O.I.
10.1007/s10846-018-0873-x
Publisher site
See Article on Publisher Site

Abstract

The problem of aerial rendezvous of Unmanned Aerial Vehicles (UAVs) is considered. Beam rider approach, wherein the follower moves along a beam directed from a ground-based tracker onto the leader is proposed as a guidance strategy. Analytic guarantee for a resulting rendezvous between two same speed vehicles is derived from the line-of-sight guidance principles. Considering an approximate variation of the follower look-ahead angle, closed-form expressions are derived for time-to-rendezvous and follower lateral acceleration. Cooperative maneuvers are proposed for the leader minimizing the rendezvous engagement time. Guidance models are extended to 3D engagements and efficacy of the proposed method is demonstrated by extensive 2D and 3D simulations. Simulation results are presented complying with the analytic findings. Robustness of the proposed approach is verified against uncompensated autopilot delays, non-identical initial speeds, and wind. Keywords UAV guidance · Aerial rendezvous · Line-of-sight guidance · Cooperative guidance strategies 1 Introduction applications, the control input can be applied in any desired directions. However, in the case of UAVs, the lateral UAVs can be efficiently engaged in surveillance of acceleration is provided by the lift which acts normal to complicated terrains, aerial photography, disaster damage the velocity. This presents a general limitation for multi- estimation,

Journal

Journal of Intelligent & Robotic SystemsSpringer Journals

Published: May 29, 2018

References

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Search

Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly

Organize

Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.

Access

Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

DeepDyve

Freelancer

DeepDyve

Pro

Price

FREE

$49/month
$360/year

Save searches from
Google Scholar,
PubMed

Create lists to
organize your research

Export lists, citations

Read DeepDyve articles

Abstract access only

Unlimited access to over
18 million full-text articles

Print

20 pages / month

PDF Discount

20% off