Proceedings ArticleDOI
Constrained trajectory generation for UAV systems using a B-spline parametrization
Florin Stoican,Ionela Prodan,Dan Popescu,Loretta Ichim +3 more
- pp 613-618
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TLDR
This paper extends some previous work on trajectory generation for UAV using differential flatness in combination with B-splines parametrization to generate feasible flat trajectories for nonlinear UAV dynamics while ensuring continuous constraint validation.Abstract:
This paper extends some previous work on trajectory generation for UAV (Unmanned Aerial Vehicles) using differential flatness in combination with B-splines parametrization. The originality of this work resides in the geometrical interpretations of the B-splines properties and their use in generating feasible flat trajectories for nonlinear UAV dynamics while ensuring continuous constraint validation. Of particular interest (and difficulty) are constraints involving system inputs since often the mapping between the input and the flat output space is strongly nonlinear. The tools used and the results obtained are exemplified over a particular UAV dynamical system and can be generalized to any nonlinear system admitting a flat description.read more
Citations
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A Survey of Collaborative UAV–WSN Systems for Efficient Monitoring
TL;DR: A systematic approach is carried out in order to structure a unitary from conceptual design towards key implementation aspects of UAV–WSN systems, and a research agenda is outlined to advance the field towards tangible economic and social impact.
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A Collaborative UAV-WSN Network for Monitoring Large Areas.
TL;DR: A hybrid UAV-WSN network which is self-configured to improve the acquisition of environmental data across large areas and shows improvements in both network and data collection efficiency metrics by implementing the proposed algorithms.
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Minimum-time B-spline trajectories with corridor constraints. Application to cinematographic quadrotor flight plans
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Flat trajectory design and tracking with saturation guarantees: a nano-drone application
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Meshed DC microgrid hierarchical control: A differential flatness approach
TL;DR: A novel combination of port-Hamiltonian (PH) modeling with differential flatness and B-splines parametrization is introduced and shown to improve the microgrid's performance.
References
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Analysis and Control of Nonlinear Systems: A Flatness-based Approach
TL;DR: In this paper, the authors focus on structural aspects and in particular on a class of systems called differentially flat, and discuss applications of this method in the fields of electric drives (DC motors and linear synchronous motors), magnetic bearings, automotive equipments, cranes, and automatic flight control systems.
Journal ArticleDOI
Neural network approaches to dynamic collision-free trajectory generation
Simon X. Yang,Max Q.-H. Meng +1 more
TL;DR: In this paper, dynamic collision-free trajectory generation in a nonstationary environment is studied using biologically inspired neural network approaches and the effectiveness and efficiency of the proposed approaches are demonstrated through simulation and comparison studies.
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