Deciding to land a UAV safely in real time

Jonathan Sprinkle, J. Mikael Eklund, S. Shankar Sastry

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

The difficulty of autonomous free-flight of a fixed-wing UAV is trivial when compared to that of takeoff and landing. There is an even more marked difference when deciding whether or not a UAV can capture or recapture a certain trajectory, since the answer depends on the operating ranges of the aircraft. A common example of requiring this calculation, from a military perspective, is the determination of whether or not an aircraft can capture a landing trajectory (i.e., glideslope) from a certain initial state (velocity, position, etc.). As state dimensions increase, the time to calculate the decision grows exponentially. This paper describes how we can make this decision at flight time, and guarantee that the decision will give a safe answer before the state changes enough to invalidate the decision. We also describe how the computations should be formulated, and how the partitioning of the state-space can be done to reduce the computation time required. Flight testing was performed with our design, and results are given.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages3506-3511
Number of pages6
Volume5
StatePublished - 2005
Externally publishedYes
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

Other

Other2005 American Control Conference, ACC
CountryUnited States
CityPortland, OR
Period6/8/056/10/05

Fingerprint

Unmanned aerial vehicles (UAV)
Landing
Trajectories
Aircraft
Free flight
Fixed wings
Takeoff
Testing

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Sprinkle, J., Eklund, J. M., & Sastry, S. S. (2005). Deciding to land a UAV safely in real time. In Proceedings of the American Control Conference (Vol. 5, pp. 3506-3511)

Deciding to land a UAV safely in real time. / Sprinkle, Jonathan; Eklund, J. Mikael; Sastry, S. Shankar.

Proceedings of the American Control Conference. Vol. 5 2005. p. 3506-3511.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sprinkle, J, Eklund, JM & Sastry, SS 2005, Deciding to land a UAV safely in real time. in Proceedings of the American Control Conference. vol. 5, pp. 3506-3511, 2005 American Control Conference, ACC, Portland, OR, United States, 6/8/05.
Sprinkle J, Eklund JM, Sastry SS. Deciding to land a UAV safely in real time. In Proceedings of the American Control Conference. Vol. 5. 2005. p. 3506-3511
Sprinkle, Jonathan ; Eklund, J. Mikael ; Sastry, S. Shankar. / Deciding to land a UAV safely in real time. Proceedings of the American Control Conference. Vol. 5 2005. pp. 3506-3511
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