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http://dx.doi.org/10.12673/jant.2016.20.5.401

3-Dimensional Path Planning and Guidance for High Altitude Long Endurance UAV Including a Solar Power Model  

Oh, Su-hun (Avonics R&D Lab, LIG Nex1)
Kim, Kap-dong (Avonics R&D Lab, LIG Nex1)
Park, Jun-hyun (Avonics R&D Lab, LIG Nex1)
Publication Information
Journal of Advanced Navigation Technology / v.20, no.5, 2016 , pp. 401-407 More about this Journal
Abstract
This paper introduces 3-dimensional path planning and guidance including power model for high altitude long endurance (HALE) UAV using solar energy. Dubins curve used in this paper has advantage of being directly available to apply path planning. However, most of the path planning problems using Dubins curve are defined in a two-dimensional plan. So, we used 3-dimensional Dubins path generation algorithm which was studied by Randal W. Beard. The aircraft model which used in this paper does not have an aileron. So we designed lateral controller by using a rudder. And then, we were conducted path tracking simulations by using a nonlinear path tracking algorithm. We generate examples according to altitude conditions. From the path tracking simulation results, we confirm that the path tracking is well on the flight path. Finally, we were modeling the power system of HALE UAVs and conducting path tracking simulation during 48hours. Modeling the amount of power generated by the solar cell through the calculation of the solar energy yield. And, we show the 48hours path tracking simulation results.
Keywords
Dubins curve; High altitude long endurance; Path tracking; Guidance; Solar energy;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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