Energy-Optimized Planning in Non-Uniform Wind Fields with Fixed-Wing Aerial Vehicles
arxiv(2024)
摘要
Fixed-wing small uncrewed aerial vehicles (sUAVs) possess the capability to
remain airborne for extended durations and traverse vast distances. However,
their operation is susceptible to wind conditions, particularly in regions of
complex terrain where high wind speeds may push the aircraft beyond its
operational limitations, potentially raising safety concerns. Moreover, wind
impacts the energy required to follow a path, especially in locations where the
wind direction and speed are not favorable. Incorporating wind information into
mission planning is essential to ensure both safety and energy efficiency. In
this paper, we propose a sampling-based planner using the kinematic Dubins
aircraft paths with respect to the ground, to plan energy-efficient paths in
non-uniform wind fields. We study the planner characteristics with synthetic
and real-world wind data and compare its performance against baseline cost and
path formulations. We demonstrate that the energy-optimized planner effectively
utilizes updrafts to minimize energy consumption, albeit at the expense of
increased travel time. The ground-relative path formulation facilitates the
generation of safe trajectories onboard sUAVs within reasonable computational
timeframes.
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