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This paper presents a navigation method for UAVs in certain environments. Limit-cycle navigation method for path planning is implemented on the maneuverable quad-rotor type UAV using limit-cycle characteristics of the 2nd-order nonlinear function. Furthermore, for path planning in three dimensions, the paper extends the limit-cycle method limited in two dimensions to three dimensions. Besides, the dynamics of a quad-rotor aircraft is analyzed so that the autonomous flight system for avoiding fixed obstacles can be carried out. Finally, simulation results are provided in order to illustrate effectiveness and merits of the proposed method for the autonomous path planning.
Date of Conference: 5-8 July 2009