IN2014DN10149A - - Google Patents

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Publication number
IN2014DN10149A
IN2014DN10149A IN10149DEN2014A IN2014DN10149A IN 2014DN10149 A IN2014DN10149 A IN 2014DN10149A IN 10149DEN2014 A IN10149DEN2014 A IN 10149DEN2014A IN 2014DN10149 A IN2014DN10149 A IN 2014DN10149A
Authority
IN
India
Prior art keywords
flying vehicles
base controller
optimum trajectory
flying
communication
Prior art date
Application number
Inventor
Vijay Kumar
Aleksandr Kushleyev
Daniel Mellinger
Original Assignee
Univ Pennsylvania
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Pennsylvania filed Critical Univ Pennsylvania
Publication of IN2014DN10149A publication Critical patent/IN2014DN10149A/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/80—UAVs characterised by their small size, e.g. micro air vehicles [MAV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)

Abstract

A system and method is described for controlling flight trajectories of at least two flying vehicles towards goal positions. The system includes at least two flying vehicles with onboard inertial measurement units for determining and updating orienta tion, angular velocities, position and linear velocities of the at least two flying vehicles, a motion capture system to detect current position and velocity of each of the at least two flying vehicles, and a base controller in communication with the motion capture system and in communication with the plurality of flying vehicles. The base controller calculates for each of the flying vehicles, at predeter mined intervals of time, optimum trajectory paths using piece-wise smooth polynomial functions, applying weighting factors, and enforcing overlap constraints. The base controller also sends, based on the calculated optimum trajectory path, commands to each of the flying vehicles to control, individually, their state, causing the at least two flying vehicles to follow the calculated optimum trajectory path while avoiding collisions.
IN10149DEN2014 2012-04-30 2013-04-30 IN2014DN10149A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261640249P 2012-04-30 2012-04-30
PCT/US2013/038769 WO2014018147A2 (en) 2012-04-30 2013-04-30 Three-dimensional manipulation of teams of quadrotors

Publications (1)

Publication Number Publication Date
IN2014DN10149A true IN2014DN10149A (en) 2015-08-21

Family

ID=49997946

Family Applications (1)

Application Number Title Priority Date Filing Date
IN10149DEN2014 IN2014DN10149A (en) 2012-04-30 2013-04-30

Country Status (8)

Country Link
US (1) US9599993B2 (en)
EP (1) EP2845071B1 (en)
KR (1) KR20150004915A (en)
CN (1) CN104718508B (en)
AU (1) AU2013293507B2 (en)
HK (1) HK1210288A1 (en)
IN (1) IN2014DN10149A (en)
WO (1) WO2014018147A2 (en)

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Also Published As

Publication number Publication date
KR20150004915A (en) 2015-01-13
EP2845071A2 (en) 2015-03-11
CN104718508B (en) 2017-09-08
EP2845071B1 (en) 2020-03-18
CN104718508A (en) 2015-06-17
EP2845071A4 (en) 2016-06-22
AU2013293507B2 (en) 2016-12-15
US9599993B2 (en) 2017-03-21
US20150105946A1 (en) 2015-04-16
WO2014018147A3 (en) 2014-03-20
HK1210288A1 (en) 2016-04-15
WO2014018147A2 (en) 2014-01-30
AU2013293507A1 (en) 2014-12-18

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