scholarly journals Algorithm for constructing the optimal trajectory A* for an unmanned aerial vehicle in three-dimensional space

2021 ◽  
Vol 1843 (1) ◽  
pp. 012020
Author(s):  
A V Gutsal
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Optimal Trajectory ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Aerial Vehicle ◽  
Three Dimensional Space

scholarly journals Method of an unmanned aerial vehicle composition route in space

2021 ◽  
Vol 5 (4) ◽  
pp. 26-33
Author(s):  
Denys Voloshyn ◽  
Veronika Brechko ◽  
Serhii Semenov
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Spatial Location ◽  
Starting Point ◽  
Aerial Vehicle ◽  
The Difference ◽  
Extended Graph ◽  
Three Dimensional Space ◽  
Vehicle Routes

The article is devoted to the development of a method of composition of the route of an unmanned aerial vehicle in three-dimensional space. The main difference of the presented method is the complex consideration of the features of the environment, which reflects the possible obstacles (active or passive) and other limitations of the problem when composing the route of the unmanned aerial vehicle in three-dimensional space. This allowed to increase the safety of the task in autonomous flight conditions. The article analyzes the main approaches to the composition of unmanned aerial vehicle routes in space. The conclusion about the shortcomings of the two-dimensional representation is made. The method presents four stages of the task. This is the stage of modeling the environment that reflects possible obstacles (active or passive) and other limitations of the task. Stage of construction of an extended graph of unmanned aerial vehicle routes in space. The difference of this stage is the adaptive consideration of the spatial location of active obstacles in space. The next stage is the route search stage, which connects the starting point with the end and bypasses all obstacles and allows you to build a starting route in the form of a broken line, which is formed by a sequence of waypoints, and connects the starting point with the end, bypassing obstacles. The last is the stage of obtaining the final result, which is provided by smoothing the obtained broken line. In this part of the composition method, to solve the problem of smoothing the trajectory of the unmanned aerial vehicle in space on the selected route, the expediency of using the method of non-uniform cubic B-spline is proved. With the help of this method the task of selection and optimization of the smoothing parameter is set and solved.

scholarly journals Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1232
Author(s):  
Wojciech Giernacki ◽  
Jarosław Gośliński ◽  
Jagoda Goślińska ◽  
Tadeo Espinoza-Fraire ◽  
Jinjun Rao
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Viscous Friction ◽  
Control Techniques ◽  
Aerial Vehicle ◽  
Altitude Control ◽  
Selection Of ◽  
Three Dimensional Space

In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into consideration the gyroscopic effect, influence of the Coriolis force, viscous friction and a several drag-like effects (blade flapping, rotor drag, translational drag and profile drag). In contrast to multirotor models available in the literature, this one is characterized by complementarity in relation to the available control techniques. Depending on selection of these techniques, the model can be narrowed (simplified) to meet the needs without the loss of behaviour adequacy to a real UAV.

scholarly journals A Predictive Control Strategy for Aerial Payload Transportation with an Unmanned Aerial Vehicle

Mathematics ◽  
2021 ◽  
Vol 9 (15) ◽  
pp. 1822
Author(s):  
Norberto Urbina-Brito ◽  
María-Eusebia Guerrero-Sánchez ◽  
Guillermo Valencia-Palomo ◽  
Omar Hernández-González ◽  
Francisco-Ronay López-Estrada ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Predictive Control ◽  
Control Strategy ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Lagrange Formulation ◽  
Aerial Vehicle ◽  
Load Swing ◽  
The Mathematical Model ◽  
Three Dimensional Space

This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimensional space, and the vehicle rotation, achieving a good balance between fast stabilization times and small swing angles. The mathematical model is based on the Euler–Lagrange formulation and considers the dynamics of the vehicle, the cable, and the load. Then, the mathematical model is represented as an input-affine system to obtain the linear model for the control design. A constrained MPC strategy was designed and compared with an unconstrained MPC and an algorithm from the literature for the case of study. The constraints to be considered include the limits on the swing angles and the quadrotor position. The constrained control algorithm was constructed to stabilize the aerial vehicle. It aims to track a trajectory reference while attenuating the load swing, considering a maximum swing range of ±10∘. Numerical simulations were carried out to validate the control strategy.

Extension of the Spatial PDI Model to Three Dimensions

1997 ◽  
Vol 84 (1) ◽  
pp. 176-178
Author(s):  
Frank O'Brien
Keyword(s):  
Population Density ◽  
Dimensional Space ◽  
Finite Lattice ◽  
Three Dimensional ◽  
Upper Bounds ◽  
Three Dimensions ◽  
Lower And Upper Bounds ◽  
Density Index ◽  
Three Dimensional Space

The author's population density index ( PDI) model is extended to three-dimensional distributions. A derived formula is presented that allows for the calculation of the lower and upper bounds of density in three-dimensional space for any finite lattice.

A Peptoid with Extended Shape in Water

2019 ◽  
Author(s):  
Jumpei Morimoto ◽  
Yasuhiro Fukuda ◽  
Takumu Watanabe ◽  
Daisuke Kuroda ◽  
Kouhei Tsumoto ◽  
...  
Keyword(s):  
Spectroscopic Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Biomolecular Recognition ◽  
Biological Application ◽  
New Class ◽  
Proteolytic Resistance ◽  
Pharmacokinetic Properties ◽  
Optically Pure ◽  
Three Dimensional Space

<div> <div> <div> <p>“Peptoids” was proposed, over decades ago, as a term describing analogs of peptides that exhibit better physicochemical and pharmacokinetic properties than peptides. Oligo-(N-substituted glycines) (oligo-NSG) was previously proposed as a peptoid due to its high proteolytic resistance and membrane permeability. However, oligo-NSG is conformationally flexible and is difficult to achieve a defined shape in water. This conformational flexibility is severely limiting biological application of oligo-NSG. Here, we propose oligo-(N-substituted alanines) (oligo-NSA) as a new peptoid that forms a defined shape in water. A synthetic method established in this study enabled the first isolation and conformational study of optically pure oligo-NSA. Computational simulations, crystallographic studies and spectroscopic analysis demonstrated the well-defined extended shape of oligo-NSA realized by backbone steric effects. The new class of peptoid achieves the constrained conformation without any assistance of N-substituents and serves as an ideal scaffold for displaying functional groups in well-defined three-dimensional space, which leads to effective biomolecular recognition. </p> </div> </div> </div>

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