Neuro-Evolutionary Control for Optimal Dynamic Soaring

2020 ◽  
Author(s):  
Ruben E. Perez ◽  
Jose Arnal ◽  
Peter W. Jansen
Author(s):  
Duo-Neng Liu ◽  
Zhong-Xi Hou ◽  
Zheng Guo ◽  
Xi-Xiang Yang ◽  
Xian-Zhong Gao

Like albatross, unmanned aerial vehicles can significantly make use of wind gradient to extract energy by the flight technique named dynamic soaring. The research aims to develop a general optimization method to compute all the possible patterns of dynamic soaring with a small unmanned aerial vehicle. A direct collocation approach based on the Runge-Kutta integrator is proposed to solve the trajectory optimization problem for dynamic soaring. The optimal dynamic soaring trajectories are classified into two patterns: closed trajectory pattern and travelling trajectory pattern by applying terminal constraints of zero horizontal displacement and a certain travelling direction, respectively. Using different terminal constrains for heading angle and initial guesses in the optimization process, the former pattern can be divided into two subtypes: O-shaped and 8-shaped trajectories, while the latter one is divided into C-shaped, α-shaped, S-shaped and Ω-shaped trajectories. The characteristics of these patterns and the correlation among patterns are analyzed and discussed.


2017 ◽  
Vol 14 (135) ◽  
pp. 20170496 ◽  
Author(s):  
Gabriel D. Bousquet ◽  
Michael S. Triantafyllou ◽  
Jean-Jacques E. Slotine

Albatrosses can travel a thousand kilometres daily over the oceans. They extract their propulsive energy from horizontal wind shears with a flight strategy called dynamic soaring. While thermal soaring, exploited by birds of prey and sports gliders, consists of simply remaining in updrafts, extracting energy from horizontal winds necessitates redistributing momentum across the wind shear layer, by means of an intricate and dynamic flight manoeuvre. Dynamic soaring has been described as a sequence of half-turns connecting upwind climbs and downwind dives through the surface shear layer. Here, we investigate the optimal (minimum-wind) flight trajectory, with a combined numerical and analytic methodology. We show that contrary to current thinking, but consistent with GPS recordings of albatrosses, when the shear layer is thin the optimal trajectory is composed of small-angle, large-radius arcs. Essentially, the albatross is a flying sailboat, sequentially acting as sail and keel, and is most efficient when remaining crosswind at all times. Our analysis constitutes a general framework for dynamic soaring and more broadly energy extraction in complex winds. It is geared to improve the characterization of pelagic birds flight dynamics and habitat, and could enable the development of a robotic albatross that could travel with a virtually infinite range.


Author(s):  
Marco Battaglini ◽  
Rohit Lamba

Author(s):  
Hossein Taherian ◽  
Mohammad Reza Aghaebrahimi ◽  
Luis Baringo ◽  
Saeid Reza Goldani

2018 ◽  
Vol 46 (2) ◽  
pp. 199-204 ◽  
Author(s):  
Bertrand Crettez ◽  
Naila Hayek ◽  
Georges Zaccour

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