Panel Method Based Guidance for Fixed Wing Micro Aerial Vehicles

Zeynep Bilgin , Murat Bronz (1) , Ilkay Yavrucuk

1 ENAC - Ecole Nationale de l'Aviation Civile

In this study, previously proposed panel method based guidance algorithm is tested in a high fidelity simulation environment and in real-life scenarios with a fixed wing mini unmanned aerial vehicle. Panel method is a numerical tool, borrowed from fluid dynamics domain, that can generate collision free, smooth paths in environments with arbitrarily shaped obstacles. It guarantees convergence to global minima with little computational load. Local vector field generated by the panel method is used to demonstrate a simple path-planning and guidance of the fixed wing micro aerial vehicle with hardware experiments. Experimental results suggest that the proposed algorithm can generate collision free paths for a fixed wing aircraft without violating the vehicle's limited flight envelope.

Mots clés: Panel method; guidance; UAV

Domaines: Robotique [cs.RO]; Systèmes dynamiques [math.DS]

Zeynep Bilgin, Murat Bronz, Ilkay Yavrucuk. Panel Method Based Guidance for Fixed Wing Micro Aerial Vehicles. International Micro Air Vehicle Conference, TU-Delft, Sep 2022, Delft, Netherlands. ⟨hal-03948294⟩