NDLI: Optimal path planning for solar-powered UAVs based on unit quaternions

Content Provider	IEEE Xplore Digital Library
Author	Ran Dai Unsik Lee Hosseini, S. Mesbahi, M.
Copyright Year	2012
Description	Author affiliation: Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA (Unsik Lee; Hosseini, S.; Mesbahi, M.) \|\| Aerospace Engineering Department, Iowa State University, Ames, USA (Ran Dai)
Abstract	In this paper, we examine a unit quaternion based method to design the optimal paths with maximum sun exposure for unmanned aerial vehicles (UAVs) equipped with photovoltaic cells on their wings. The mission of traveling between two specified boundary points with fixed flying time and constant speed is considered. Since the solar power is the sole source of energy for these UAVs during the flight, we consider the problem of maximizing the incoming solar radiation throughout their trajectory. As the attitude of the UAV directly determines solar intensity normal to the vertical surface of the wing, we use a unit quaternion based method to control the attitude maneuver during the flight interval. Subsequently, the aircraft kinematics are expressed as quadratic functions in terms of unit quaternions which can be solved by a branch and bound approach. Simulation results in two and three dimensions are presented.
Starting Page	3104
Ending Page	3109
File Size	284521
Page Count	6
File Format	PDF
ISBN	9781467320658
ISSN	07431546
e-ISBN	9781467320665
e-ISBN	9781467320641
DOI	10.1109/CDC.2012.6425972
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Quaternions Kinematics Vectors Aircraft Sun Photovoltaic cells Equations
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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