Trajectory Estimation for Geo-Fencing Applications on Small-Size Fixed-Wing UAVs

Mirco Theile, Simon Yu, Or D. Dantsker, Marco Caccamo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The steadily increasing popularity of Unmanned Aerial Vehicles (UAVs) is creating new opportunities in diverse fields of technology and business. However, this increase of popularity also raises safety concerns. To tackle the primary concern of keeping the UAV inside a designated region, a novel trajectory estimation algorithm for geo-fencing applications is proposed. We derive the Beta-Trajectory that takes into account constraints in curvature as well as constraints in the change of curvature which is bounded by the maximum roll-rate of the aircraft. We incorporate the Beta-Trajectory into a geo-fencing algorithm. By using our open-source uavAP autopilot, the applicability and necessity of accurate trajectory estimation algorithms for geo-fencing applications are shown on small fixed-wing aircraft. The model and algorithm are validated in high-fidelity simulations as well as in real flight testing.

Original languageEnglish (US)
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1971-1977
Number of pages7
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Externally publishedYes
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period11/3/1911/8/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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