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In-flight Kinematic Model Parameter Estimation and Adaptive Path Planning for Unmanned Aircraft

Benders, Sebastian and Schopferer, Simon and Nawrath, Arne (2020) In-flight Kinematic Model Parameter Estimation and Adaptive Path Planning for Unmanned Aircraft. AIAA SciTech Forum, Intelligent Systems Conference, 06.-10. Jan. 2020, Orlando, USA. doi: 10.2514/6.2020-0135.

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Official URL: https://arc.aiaa.org/doi/abs/10.2514/6.2020-0135

Abstract

In real-world applications, unmanned aircraft may be subject to short-term configuration changes such as new payloads, additional batteries or antennas. Furthermore, degradation of materials, system failures, icing and weather conditions may impact performance. As a consequence, performance parameters may often be unknown or subject to uncertainty. To handle such performance uncertainties within an autonomous system, the system must exhibit a high degree of self-awareness and be able to react and adapt to false assumptions and inaccurate parameter values. Within this work, an adaptive path planning approach based on in-flight estimation of kinematic model parameters is presented. In order to achieve this, the parameters of the kinematic model used for path planning are continuously monitored and the flight path is re-planned correspondingly in order to fully utilize the aircraft's turn and climbing performance. At the same time the path tracking error and required safety distance along the flight path are minimized. Simulation results for multiple scenarios indicate that the approach improves performance and safety in the presence of uncertain or changing kinematic model parameters.

Item URL in elib:https://elib.dlr.de/136825/
Document Type:Conference or Workshop Item (Speech)
Title:In-flight Kinematic Model Parameter Estimation and Adaptive Path Planning for Unmanned Aircraft
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Benders, SebastianSebastian.Benders (at) dlr.deUNSPECIFIED
Schopferer, SimonSimon.Schopferer (at) dlr.deUNSPECIFIED
Nawrath, Arnearne.m.nawrath (at) gmail.comUNSPECIFIED
Date:6 January 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.2514/6.2020-0135
Status:Published
Keywords:unmanned aircraft, UAV, path planning, parameter estimation, wind, kinematic model
Event Title:AIAA SciTech Forum, Intelligent Systems Conference
Event Location:Orlando, USA
Event Type:international Conference
Event Dates:06.-10. Jan. 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems and Cabin (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems
Institute of Flight Systems > Unmanned Aircraft
Deposited By: Benders, Sebastian
Deposited On:05 Nov 2020 14:22
Last Modified:05 Nov 2020 14:22

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