An Algorithm for Autonomous Aerial Navigation using MATLAB® Mapping Tool Box
In the present era of aviation technology, autonomous navigation and control have emerged as a prime area of active research. Owing to the tremendous developments in the field, autonomous controls have led today’s engineers to claim that future of aerospace vehicle is unmanned. Development of guidance and navigation algorithms for an unmanned aerial vehicle (UAV) is an extremely challenging task, which requires efforts to meet strict, and at times, conflicting goals of guidance and control. In this paper, aircraft altitude and heading controllers and an efficient algorithm for self-governing navigation using MATLAB® mapping toolbox is presented which also enables loitering of a fixed wing UAV over a specified area. For this purpose, a nonlinear mathematical model of a UAV is used. The nonlinear model is linearized around a stable trim point and decoupled for controller design. The linear controllers are tested on the nonlinear aircraft model and navigation algorithm is subsequently developed for for autonomous flight of the UAV. The results are presented for trajectory controllers and waypoint based navigation. Our investigation reveals that MATLAB® mapping toolbox can be exploited to successfully deliver an efficient algorithm for autonomous aerial navigation for a UAV.
[1] J. M. Sullivan, "Evolution or Revolution ? The rise of UAVs", IEEE
Technology and Society Magazine, Vol. 25 No. 3, pp 43-49, 2006.
[2] http://www.grc.nasa.gov/WWW/k-12/InteractProgs/index.html.
[3] B. M Albaker and N. A. Rahim, "Flight path PID controller for
propellor driven fixed wing unmanned Aerial VehicleVol. 6(8), pp.
1947-1964, 18 April, 2011.
[4] S. Kurnaz, O. Cetin and O. Kaynak, "Fuzzy logic based approach to
design of flight control and navigation tasks for autonomous unmanned
aerial vehicles" Journal of Intelligent and Robotic Systems, 2009 -
Springer.
[5] Thessaloniki, "Trajectory Control of Unmanned Aerial Vehicle using
Neural Networks with a Stable Learning Algorithm", 17th
Mediterranean Conference on Control and Automation, pp.880-885,
2009.
[6] Buckholtz, K. R. Wise, K. A. Ferman, M. A. Boeing Co., St. Louis,
"Static Feedback Control Augmented with an Adaptive Neural
Networks", American Control Conference, pp 3919-3924, 2007.
[7] Anargyros N. Kostaras, Ioaniss K. Nikolos, Nikos C. Tsourveloudis and
Kimon P. Valavanis, "Evolutionary Algorithm based Online/Offline
Path Planner for Unmanned Aerial Vehicles Navigation", IEE
transactions on Systems, Man and Cybernetics, Vol. 33, pp 898-912,
2003.
[8] Shashi Mittal and Kalyanmoy Deb, "Three Dimensional Offline Path
Planning for Unmanned Aerial Vehicles using Multi Objective
Evolutionary Algorithms", IEEE Congress on Evolutionary
Computation, 2007.
[9] Gianpaolo Conte and Patrick Doherty, "Vision-Based Unmanned Aerial
Vehicle Navigation Using Geo-Referenced Information", EURASIP
Journal on Advances in Signal Processing, doi: 10.1155/2009/387308,
2009.
[10] Jonathan Kelly, Srikanth Salipally and Gauruv S. Sokhatme,
"Combined Visual and Inertial Navigation for Unmanned Aerial
Vehicles", 6th International Conference on Field and Service Robotics,
pp 255-264, 2007.
[11] http://www.u-dynamics.com/aerosim/
[12] M. Ahsan, K. Shafique and A.B. Mansoor, "Performance Comparison
of two altitude control algorithms for a fixed wing UAV", International
Conference on Measurement and Control Engineering, pp. 441-445,
2010.
[13] Dongwon Jung and Panagiotis Tsiotras, "Modeling and Hardware-in-
Loop Simulation of small Unmanned Aerial Vehicle", AIAA Infotech at
Aerospace, AIAA 07-2763, May 2007.
[14] J. Roskam, Airplane Flight Dynamics and Automatic Flight Controls,
3rd ed., DARCO, 2003.
[15] M.Gopal, Moder Control System Theory, 1st edition, New Age
Internatinol, 1993.
[16] B. L. Stevens and F. L. Lewis, Aircraft Control and Simulation, 2nd ed.,
Wiley Interscience, 1992.
[17] K. P. Valavanis, P. Oh and L. A. Piegl, "Unmanned Aircraft Systems:
International Symposium On Unmanned Aerial Vehicles", Springer,
2009.
[18] Y. Zun, L. Hu-min and L. Yu-hao, "Study of nonlinear design technique
for unmanned aerial vehicle flight control system", CNKI Journal of J.
H. Blakelock, Automatic Control of Aircraft and Missiles, 1st ed.,
Wiley Interscience, 1991Control Technology of Tactical Missile, vol.1,
No. 5, pp. 12-14, 2008.
[19] www.mathworks.com/help/toolbox/map/
[20] Mohinder S. Grewl, Lawrence Rweill, Angus P. Andrews, "Global
Postioning Systems, Inertial Navigation and Integration", 2nd edition,
John Wiley and Sons Inc.
[21] D. Cabecinhas, C. Silvestre, P. Rosa and R.Cunha, "Path-Following
Control for Coordinated Turn Aircraft Maneuvers",AIAA Guidance,
Navigation and Control Conference and Exhibit, AIAA 07-6656, 2007.
[1] J. M. Sullivan, "Evolution or Revolution ? The rise of UAVs", IEEE
Technology and Society Magazine, Vol. 25 No. 3, pp 43-49, 2006.
[2] http://www.grc.nasa.gov/WWW/k-12/InteractProgs/index.html.
[3] B. M Albaker and N. A. Rahim, "Flight path PID controller for
propellor driven fixed wing unmanned Aerial VehicleVol. 6(8), pp.
1947-1964, 18 April, 2011.
[4] S. Kurnaz, O. Cetin and O. Kaynak, "Fuzzy logic based approach to
design of flight control and navigation tasks for autonomous unmanned
aerial vehicles" Journal of Intelligent and Robotic Systems, 2009 -
Springer.
[5] Thessaloniki, "Trajectory Control of Unmanned Aerial Vehicle using
Neural Networks with a Stable Learning Algorithm", 17th
Mediterranean Conference on Control and Automation, pp.880-885,
2009.
[6] Buckholtz, K. R. Wise, K. A. Ferman, M. A. Boeing Co., St. Louis,
"Static Feedback Control Augmented with an Adaptive Neural
Networks", American Control Conference, pp 3919-3924, 2007.
[7] Anargyros N. Kostaras, Ioaniss K. Nikolos, Nikos C. Tsourveloudis and
Kimon P. Valavanis, "Evolutionary Algorithm based Online/Offline
Path Planner for Unmanned Aerial Vehicles Navigation", IEE
transactions on Systems, Man and Cybernetics, Vol. 33, pp 898-912,
2003.
[8] Shashi Mittal and Kalyanmoy Deb, "Three Dimensional Offline Path
Planning for Unmanned Aerial Vehicles using Multi Objective
Evolutionary Algorithms", IEEE Congress on Evolutionary
Computation, 2007.
[9] Gianpaolo Conte and Patrick Doherty, "Vision-Based Unmanned Aerial
Vehicle Navigation Using Geo-Referenced Information", EURASIP
Journal on Advances in Signal Processing, doi: 10.1155/2009/387308,
2009.
[10] Jonathan Kelly, Srikanth Salipally and Gauruv S. Sokhatme,
"Combined Visual and Inertial Navigation for Unmanned Aerial
Vehicles", 6th International Conference on Field and Service Robotics,
pp 255-264, 2007.
[11] http://www.u-dynamics.com/aerosim/
[12] M. Ahsan, K. Shafique and A.B. Mansoor, "Performance Comparison
of two altitude control algorithms for a fixed wing UAV", International
Conference on Measurement and Control Engineering, pp. 441-445,
2010.
[13] Dongwon Jung and Panagiotis Tsiotras, "Modeling and Hardware-in-
Loop Simulation of small Unmanned Aerial Vehicle", AIAA Infotech at
Aerospace, AIAA 07-2763, May 2007.
[14] J. Roskam, Airplane Flight Dynamics and Automatic Flight Controls,
3rd ed., DARCO, 2003.
[15] M.Gopal, Moder Control System Theory, 1st edition, New Age
Internatinol, 1993.
[16] B. L. Stevens and F. L. Lewis, Aircraft Control and Simulation, 2nd ed.,
Wiley Interscience, 1992.
[17] K. P. Valavanis, P. Oh and L. A. Piegl, "Unmanned Aircraft Systems:
International Symposium On Unmanned Aerial Vehicles", Springer,
2009.
[18] Y. Zun, L. Hu-min and L. Yu-hao, "Study of nonlinear design technique
for unmanned aerial vehicle flight control system", CNKI Journal of J.
H. Blakelock, Automatic Control of Aircraft and Missiles, 1st ed.,
Wiley Interscience, 1991Control Technology of Tactical Missile, vol.1,
No. 5, pp. 12-14, 2008.
[19] www.mathworks.com/help/toolbox/map/
[20] Mohinder S. Grewl, Lawrence Rweill, Angus P. Andrews, "Global
Postioning Systems, Inertial Navigation and Integration", 2nd edition,
John Wiley and Sons Inc.
[21] D. Cabecinhas, C. Silvestre, P. Rosa and R.Cunha, "Path-Following
Control for Coordinated Turn Aircraft Maneuvers",AIAA Guidance,
Navigation and Control Conference and Exhibit, AIAA 07-6656, 2007.
@article{"International Journal of Information, Control and Computer Sciences:53178", author = "Mansoor Ahsan and Suhail Akhtar and Adnan Ali and Farrukh Mazhar and Muddssar Khalid", title = "An Algorithm for Autonomous Aerial Navigation using MATLAB® Mapping Tool Box", abstract = "In the present era of aviation technology, autonomous navigation and control have emerged as a prime area of active research. Owing to the tremendous developments in the field, autonomous controls have led today’s engineers to claim that future of aerospace vehicle is unmanned. Development of guidance and navigation algorithms for an unmanned aerial vehicle (UAV) is an extremely challenging task, which requires efforts to meet strict, and at times, conflicting goals of guidance and control. In this paper, aircraft altitude and heading controllers and an efficient algorithm for self-governing navigation using MATLAB® mapping toolbox is presented which also enables loitering of a fixed wing UAV over a specified area. For this purpose, a nonlinear mathematical model of a UAV is used. The nonlinear model is linearized around a stable trim point and decoupled for controller design. The linear controllers are tested on the nonlinear aircraft model and navigation algorithm is subsequently developed for for autonomous flight of the UAV. The results are presented for trajectory controllers and waypoint based navigation. Our investigation reveals that MATLAB® mapping toolbox can be exploited to successfully deliver an efficient algorithm for autonomous aerial navigation for a UAV.
", keywords = "Navigation, trajectory-control, unmanned aerial vehicle, PID-control, MATLAB® mapping toolbox.", volume = "6", number = "6", pages = "765-4", }
