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Communication Dans Un Congrès Année : 2022

Experimental Evaluation of Robustness of Panel-Method-Based Path Planning for Urban Air Mobility

Résumé

In this study, robustness of panel method based path planning algorithm under wind disturbances is evaluated experimentally. Panel method, borrowed from fluid dynamics domain, is a numeric tool for calculating the potential field around arbitrarily shaped objects. Resultant potential field can be used for generating collision free trajectories for uncrewed aerial vehicles with convergence guarantee. Robustness of the proposed method is demonstrated during indoor experiments with a wind generator creating wind speed up to 7 m/s and also during outdoor experiments with wind speeds ranging between 3 - 5 m/s. Experiment results suggest that panel method based path planning scheme maintains its obstacle avoidance property under wind disturbances.

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Dates et versions

hal-03948330 , version 1 (20-01-2023)

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Zeynep Bilgin, Murat Bronz, Ilkay Yavrucuk. Experimental Evaluation of Robustness of Panel-Method-Based Path Planning for Urban Air Mobility. AIAA AVIATION 2022 Forum, Jun 2022, Chicago, France. ⟨10.2514/6.2022-3509⟩. ⟨hal-03948330⟩
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