Login | Register

A Framework for Energy Efficient UAV Trajectory Planning

Title:

A Framework for Energy Efficient UAV Trajectory Planning

Pereira de Carvalho, Bruno (2018) A Framework for Energy Efficient UAV Trajectory Planning. Masters thesis, Concordia University.

[thumbnail of PereiraDeCarvalho_MASc_F2018.pdf]
Preview
Text (application/pdf)
PereiraDeCarvalho_MASc_F2018.pdf - Accepted Version
Available under License Spectrum Terms of Access.
11MB

Abstract

Motivated by the reduced flight time of battery-powered UAVs, this thesis proposes a methodology for determining the optimal trajectories of a quadrotor in the sense of a trade-off between an energy-based cost and a time-related cost. Two main cost functionals are proposed to address the battery power consumption.
Firstly, a trade-off between costs associated with body acceleration and total time is studied for nonsteady maneuvers. An optimal state feedback solution that considers the nonlinearities of the quadrotor’s equations of motion and the drag force components were developed. The main advantage of this technique is that it provides a state-feedback analytical expression.
Secondly, a simplified energy consumption model based on the blade element momentum theory (BEMT) is developed to deal with the cruise portion of the flight. The analytical solution for the constant altitude steady state flight minimum-energy problem was obtained and was similar to the maximum range problem solution. Based on the nature of the solutions, a hypothesis of a geometrical bound for the optimal pitch angle is raised.
The problems are formulated as a free terminal time optimal control problem using a trade-off cost index and solutions are derived using the Pontryagin’s Minimum Principle (PMP). Simulations show the suitability of the proposed method.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Electrical and Computer Engineering
Item Type:Thesis (Masters)
Authors:Pereira de Carvalho, Bruno
Institution:Concordia University
Degree Name:M.A. Sc.
Program:Electrical and Computer Engineering
Date:24 August 2018
Thesis Supervisor(s):Rodrigues, Luis
Keywords:UAV, trajectory planning, optimal control, PMP, BEMT, quadrotor, minimum-energy problem, optimal trajectory, path planning.
ID Code:984391
Deposited By: Bruno Pereira De Carvalho
Deposited On:16 Nov 2018 16:17
Last Modified:16 Nov 2018 16:17

References:

[1] C. N. Adkins and R. H. Liebeck, “Design of optimum propellers,” Journal of Propulsion and Power, vol. 10, no. 5, pp. 676–682, 1994.
[2] B. Theys, G. Dimitriadis, P. Hendrick, and J. De Schutter, “Influence of propeller configuration on propulsion system efficiency of multi-rotor unmanned aerial vehicles,” in Unmanned Aircraft Systems (ICUAS), 2016 International Conference on. IEEE, 2016, pp. 195–201.
[3] M. Achtelik, K.-M. Doth, D. Gurdan, and J. Stumpf, “Design of a multirotor mav with regard to efficiency, dynamics and redundancy,” in AIAA Guidance, Navigation, and Control
Conference, 2012, p. 4779.
[4] J. A. Benito, G. Glez-de Rivera, J. Garrido, and R. Ponticelli, “Design considerations of a small uav platform carrying medium payloads,” in Design of Circuits and Integrated Circuits (DCIS), 2014 Conference on. IEEE, 2014, pp. 1–6.
[5] D. Aleksandrov and I. Penkov, “Energy consumption of mini uav helicopters with different number of rotors,” in 11th International Symposium" Topical Problems in the Field of
Electrical and Power Engineering, 2012, pp. 259–262.
[6] S.B.A.Abdilla, A.Richards, “Power and endurance modelling of battery-powered rotorcraft,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
[7] Y. Mulgaonkar, M. Whitzer, B. Morgan, C. M. Kroninger, A. M. Harrington, and V. Kumar, “Power and weight considerations in small, agile quadrotors,” in Micro-and Nanotechnology Sensors, Systems, and Applications VI, vol. 9083. International Society for Optics and Photonics, 2014, p. 90831Q.
[8] M. C. Achtelik, J. Stumpf, D. Gurdan, and K.-M. Doth, “Design of a flexible high performance quadcopter platform breaking the mav endurance record with laser power beaming,” in Intelligent robots and systems (iros), 2011 ieee/rsj international conference on. IEEE, 2011,
pp. 5166–5172.
[9] D. Lee, J. Zhou, and W. T. Lin, “Autonomous battery swapping system for quadcopter,” in Unmanned Aircraft Systems (ICUAS), 2015 International Conference on. IEEE, 2015, pp. 118–124.
[10] J. Verbeke, D. Hulens, H. Ramon, T. Goedeme, and J. De Schutter, “The design and construction of a high endurance hexacopter suited for narrow corridors,” in Unmanned Aircraft Systems (ICUAS), 2014 International Conference on. IEEE, 2014, pp. 543–551.
[11] A. Miele, “A survey of the problem of optimizing flight paths of aircraft and missiles,” Mathematical Optimization Techniques, pp. 3–32, 1963.
[12] T.Rivers, “Design and integration of a flight management system for the unmanned air vehicle frog,” Master’s thesis, Naval Postgraduate School, Monterey, 1998.
[13] K. Eliker, H. Bouadi, and M. Haddad, “Flight planning and guidance features for an uav flight management computer,” in IEEE Emerging Technologies and Factory Automation (ETFA), 2016.
[14] A. Tarhan and et al., “Formal intent based flight management system design for unmanned aerial vehicles,” in IEEE Unmanned Aircraft Systems (ICUAS), 2014.
[15] Y. Bouktir, M. Haddad, and T. Chettibi, “Trajectory planning for a quadrotor helicopter,” in IEEE 16th Mediterranean Conference on Control and Automation, 2008.
[16] E. Kahale, P. Castillo, and Y. Bestaoui, “Minimum time reference trajectory generation for an autonomous quadrotor,” in Unmanned Aircraft Systems (ICUAS), 2014 International Conference on. IEEE, 2014, pp. 126–133.
[17] R. Ritz and et al., “Quadrocopter performance benchmarking using optimal control,” in Proc. Int. Conf. Intelligent Robots and Systems, 2011.
[18] D. Mellinger and V.Kumar, “Minimum snap trajectory generation and control for quadrotors,” in International Conference on Robotics and Automation. Shanghai: IEEE, 2011.
[19] C. Richter, A. Bry, and N. Roy, “Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,” in International Symposium of Robotics Research, 2013.
[20] I. Palunko, R. Fierro, and P. Cruz, “Trajectory generation for swing- free maneuvers of a quadrotor with suspended payload: A dynamic programming approach,” in International Conference on Robotics and Automation, May 2012.
[21] L. Singh and J. Fuller, “Trajectory generation for a uav in urban terrain, using nonlinear mpc,” in American Control Conference. IEEE, 2001.
[22] C. C. Yang, L. Lai, and C. J. Wu, “Time-optimal control of a hovering quad-rotor helicopter,” Journal of Intelligent and Robotic Systems, vol. 45, no. 2, pp. 115 – 135, 2006.
[23] V. Roberge, M. Tarbouchi, and G. Labonte, “Comparison of parallel genetic algorithm and particle swarm optimization for real-time uav path planning,” in International Conference on Robotics and Automation. IEEE, 2013.
[24] Safe Coordinated Maneuvering of Teams of Multirotor Unmanned Aerial Vehicles, vol. 36, 2016.
[25] M. Geisert and N. Mansard, “Trajectory generation for quadrotor based systems using numerical optimal control,” in International Conference on Robotics and Automation, Sweden,
2016.
[26] Time-Critical Cooperative Control of Multiple Autonomous Vehicles, vol. 32, 2012.
[27] K. Vicencio, T. Korras, and K. Bordigon, “Energy-optimal path planning for six-rotors on multi-target missions,” in Intelligent Robots and Systems (IROS). IEEE, 2015.
[28] A. Candido, R. Galvao, and T. Yoneyama, “Control and energy management for quadrotor,” in ICC, UK, 2014.
[29] Y. Zeng and R. Zhang, “Energy-efficient uav communication with trajectory optimization,” IEEE Trans. Wireless Commun, vol. 16, no. 6, pp. 3747–3760, 2017.
[30] M. Di Perna, “An optimal control approach to flight management systems for unmanned aerial vehicles,” Master’s thesis, Concordia University, 2017.
[31] C. Molter and P. Cheng, “Propeller performance calculation for multicopter aircraft at forward flight conditions and validation with wind tunnel measurements,” University of Stuttgart, Stuttgart, Germany, 2017.
[32] D. K. Phungand P. Morin, “Modeling and energy evaluation of small convertible uavs,”in 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems, 2013.
[33] Z. Liu, R. Sengupta, and A. Kurzhanskiy, “A power consumption model for multi-rotor small unmanned aircraft systems,” in Unmanned Aircraft Systems (ICUAS), 2017 International Conference on. IEEE, 2017, pp. 310–315.
[34] F. Morbidi, R. Cano, and D. Lara, “Minimum-energy path generation for a quadrotor uav,” in International Conference on Robotics and Automation. IEEE, 2016.
[35] Z. Liu and R. Sengupta, “An energy-based flight planning system for unmanned traffic management,” in Systems Conference (SysCon), 2017 Annual IEEE International. IEEE, 2017, pp. 1–7.
[36] A. E. Bryson and Y. Ho, Applied Optimal Control. Publishing Company, 1983.
[37] B. Carvalho, M. D. Perna, and L. Rodrigues, “Real-time optimal trajectory generation for a quadrotor uav on the longitudinal plane,” in European Control Conference, Limassol, Cyprus, June 2018, pp. 3132–3136.
[38] M. J. Amoruso, Euler Angles and Quaternions in Six Degree of Freedom Simulations of
Projectiles, Army Armament, Munitions and Chemicals Command, Picatinny Arsenal., March 1996.
[39] J. Diebel, “Representing attitude: Euler angles, unit quaternions, and rotation vectors,” October 2006.
[40] S. Francesco, “Quadrotor control: modeling, nonlinear control design, and simulation,” Master’s thesis, KTH, Sweden, 2015.
[41] M. Bangura, “Aerodynamics and control of quadrotors,” Ph.D. dissertation, Australian National University, 2017.
[42] D. C. Giancoli, Physics: Principles with applications. Pearson Higher Ed, 2013.
[43] P. Pounds, R. Mahony, J. Gresham, P. Corke, and J. M. Roberts, “Towards dynamically-favourable quad-rotor aerial robots,” in Proceedings of the 2004 Australasian Conference on Robotics & Automation. Australian Robotics & Automation Association, 2004.
[44] C. Kitaplioglu, “Analysis of small-scale rotor hover performance data,” 1990.
[45] A. P. French, “Newtonian mechanics,” 1971.
[46] P.-J. Bristeau, P. Martin, E. Salaün, and N. Petit, “The role of propeller aerodynamics in the model of a quadrotor uav,” in Control Conference (ECC), 2009 European. IEEE, 2009, pp. 683–688.
[47] W. Dong, G.-Y. Gu, X. Zhu, and H. Ding, “Modeling and control of a quadrotor uav with aerodynamic concepts,” in Proceedings of World Academy of Science, Engineering and Technology, no. 77. World Academy of Science, Engineering and Technology (WASET), 2013, p. 437.
[48] S. Omari, M.-D. Hua, G. Ducard, and T. Hamel, “Nonlinear control of vtol uavs incorporating flapping dynamics,” in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE, 2013, pp. 2419–2425.
[49] O. Gur, W. H. Mason, and J. A. Schetz, “Full-configuration drag estimation,” Journal of
Aircraft, vol. 47, no. 4, pp. 1356–1367, 2010.
[50] Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor, vol. 19, 2012.
[51] R. Gill and R. D’Andrea, “Propeller thrust and drag in forward flight,” in Conference on Control Technology and Applications (CCTA). IEEE, 2017.
[52] L.Derafa, T.Madani, A.Benallegue, and R.D’Andrea, “Dynamicmodellingandexperimental identification of four rotors helicopter parameters,” in International Conference on Industrial Technology. IEEE, 2006.
[53] M.Schulzandetal., “High speed, steady flight with a quadrocopter in a confined environment using a tether,” in International Conference on Intelligent Robots and Systems (IROS), 2015.
[54] M. Kaptsov and L. Rodrigues, “Electric aircraft flight management systems: economy mode and maximum endurance,” American Institute of Aeronautics and Astronautics, 2017.
[55] H. J. Sussmann and J. C. Willems, “300 years of optimal control: from the brachystochrone to the maximum principle,” IEEE Control Systems, vol. 17, no. 3, pp. 32–44, 1997.
[56] L. S. Pontryagin, Mathematical theory of optimal processes. Routledge, 2018.
[57] D. Liberzon, Calculus of Variations and Optimal Control Theory: A concise Introduction. Princeton University Press, 2012.
[58] L. Pontryagin and et al., The Mathematical Theory of Optimal Processes. Blaisdell Moscow, 1983.
[59] A. Technologies. Technical data - asctec hummingbird. [Online]. Available: http: //www.asctec.de/en/uav-uas-drones-rpas-roav/asctec-hummingbird/
[60] A. Filippone, “Flight performance of fixed and rotary wing aircraft, 2006,” Access Online via Elsevier.
[61] A. R. Bramwell, D. Balmford, and G. Done, Bramwell’s helicopter dynamics. Elsevier, 2001.
[62] Y. Zeng, J. Xu, and R. Zhang, “Energy minimization for wireless communication with rotary- wing uav,” arXiv preprint arXiv:1804.02238, 2018.
[63] M. Bydder, “The magic angle effect: A source of artifact, determinant of image contrast, and technique for imaging,” Journal of Magnetic Resonance Imaging, pp. 290–300, 2007.
[64] G. Cardano, “1545, ars magna (the rules of algebra),” 1993.
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Downloads per month over past year

Research related to the current document (at the CORE website)
- Research related to the current document (at the CORE website)
Back to top Back to top