Path Planning in Three Dimensional Environment Using Feedback Linearization (Preprint)

Abstract

This paper presents a control scheme via feedback linearization for three-dimensional cooperative path planning of a class of interconnected systems in general, and unmanned aerial vehicles (UAVs) in particular. It is shown that the feedback linearization technique along with a distance varied repulsive profile allows UAVs to converge to the invariant set of a known target location without colliding with other vehicles. Lyapunov stability analysis shows the conditions under which such systems are stable. Also a task assignment algorithm, which is a function of distance between the UAVs and the target, is proposed for dealing with multi-UAV and multi-target scenarios.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA447872

Entities

People

  • Corey J. Schumacher
  • Raul Ordonez
  • Shreecharan Kanchanavally

Organizations

  • Air Force Research Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Air Force
  • Air Force Research Laboratories
  • Aircrafts
  • Algorithms
  • Collision Avoidance
  • Engineering
  • Environment
  • Equations
  • Feedback
  • Government Procurement
  • Governments
  • Guidance
  • Military Research
  • Motion Planning
  • Multiple Input Multiple Output
  • Three Dimensional
  • Unmanned Aerial Vehicles

Readers

  • Control Systems Engineering.
  • Quantum spin resonance or Electron Paramagnetic Resonance spectroscopy.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control