Rapid generation of the shortest generalized Dubins path in forced landing

• Autorzy: Tian Min , Shi Yingjing , Li Rui , Tlelo-Cuautle Esteban

Identyfikatory

DOI

10.61822/amcs-2025-0014

• Języki publikacji: EN

Abstrakty

EN

This paper investigates the problem of rapid shortest path generation during an aircraft’s forced landing, where the heading angle of the target point is variable. To address the minimum turning radius constraint of the aircraft, the shortest path is determined using Dubins curves. Additionally, the shortest generalized Dubins path is selected when the heading angle of the target point is not fixed. Specifically, the paper focuses on four generalized Dubins curves which are relevant to forced landings. By comparing the lengths of these curves, the shortest curve is identified for different positional relationships between the forced landing starting and ending points, with theoretical justifications provided. Additionally, distance calculation methods for these curves are presented to determine the distance of the shortest generalized Dubins path. The effectiveness of the proposed method is confirmed through numerical simulations.

Słowa kluczowe

EN

generalized Dubins curve; path planning; forced landing

PL

krzywa Dubinsa; planowanie ścieżki; lądowanie przymusowe

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2025
• Tom: Vol. 35, no. 2
• Strony: 195--207
• Opis fizyczny: Bibliogr. 21 poz., rys., wykr.

Twórcy

autor

Tian Min

• School of Automation Engineering, University of Electronic Science and Technology of China, 2006 Xiyuan Avenue, Chengdu, China, 611731

autor

Shi Yingjing

• School of Automation Engineering, University of Electronic Science and Technology of China, 2006 Xiyuan Avenue, Chengdu, China, 611731

autor

Li Rui

• School of Automation Engineering, University of Electronic Science and Technology of China, 2006 Xiyuan Avenue, Chengdu, China, 611731

autor

Tlelo-Cuautle Esteban

• Department of Electronics, National Institute of Astophysics, Optics and Electronics (INAOE), Luis Enrique Erro No. 1, Puebla, Mexico 72840, Mexico

Bibliografia

• [1] Chen, Z. (2020). On Dubins paths to a circle, Automatica 117: 108996.
• [2] Chen, Z. and Shima, T. (2019a). Relaxed Dubins problems through three points, 27th Mediterranean Conference on Control and Automation (MED), Akko, Israel, pp. 501-506.
• [3] Chen, Z. and Shima, T. (2019b). Shortest Dubins paths through three points, Automatica 105: 368-375.
• [4] Drchal, J., Faigl, J. and Váňa, P. (2020). WiSM: Windowing surrogate model for evaluation of curvature-constrained tours with dubins vehicle, IEEE Transactions on Cybernetics 52(2): 1302-1311.
• [5] Dubins, L.E. (1957). On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents, American Journal of Mathematics 79(3): 497-516.
• [6] Eng, P. (2011). Path Planning, Guidance and Control for a UAV Forced Landing, PhD thesis, Queensland University of Technology.
• [7] Gao, X.-Z., Hou, Z.-X., Zhu, X.-F., Zhang, J.-T. and Chen, X.-Q. (2013). The shortest path planning for manoeuvres of UAV, Acta Polytechnica Hungarica 10(1): 221-239.
• [8] Guo, A., Zhou, Z., Wang, R., Zhao, X. and Zhu, X. (2021). Vector field path following of a full-wing solar-powered unmanned aerial vehicle (UAV) landing based on dubins path: a lesson from multiple landing failures, The Aeronautical Journal 125(1290): 1283-1312.
• [9] Gupta Manyam, S., Casbeer, D.W., Von Moll, A. and Fuchs, Z. (2022). Shortest Dubins paths to intercept a target moving on a circle, Journal of Guidance, Control, and Dynamics 45(11): 2107-2120.
• [10] Haghighi, H., Delahaye, D. and Asadi, D. (2022). Performance-based emergency landing trajectory planning applying meta-heuristic and dubins paths, Applied Soft Computing 117: 108453.
• [11] Ismail, A., Tuyishimire, E. and Bagula, A. (2018). Generating dubins path for fixed wing UAVs in search missions, Ubiquitous Networking: 4th International Symposium, UNet 2018, Hammamet, Tunisia, Springer, pp. 347-358.
• [12] Izuta, S. and Takahashi, M. (2017). Path planning to improve reachability in a forced landing, Journal of Intelligent & Robotic Systems 86(2): 291-307.
• [13] Kim, Y.-W., Lee, D.-Y., Tahk, M.-J. and Lee, C.-H. (2020). A new path planning algorithm for forced landing of UAVs in emergency using velocity prediction method, 28th Mediterranean Conference on Control and Automation (MED), Saint-Raphael, France, pp. 62-66.
• [14] Liu, G., Wu, S., Zhu, L., Wang, J. and Lv, Q. (2022). Fast and smooth trajectory planning for a class of linear systems based on parameter and constraint reduction, International Journal of Applied Mathematics and Computer Science 32(1): 11-21.
• [15] Manyam, S.G., Casbeer, D., VonMoll, A. and Fuchs, Z. (2019a). Optimal Dubins paths to intercept a moving target on a circle, American Control Conference (ACC), Philadelphia, PA, USA, pp. 828-834.
• [16] Manyam, S.G., Casbeer, D., Von Moll, A.L. and Fuchs, Z. (2019b). Shortest Dubins path to a circle, AIAA Scitech 2019 Forum, p. 0919.
• [17] Manyam, S.G. and Rathinam, S. (2018). On tightly bounding the dubins traveling salesman’s optimum, Journal of Dynamic Systems, Measurement, and Control 140(7): 071013.
• [18] Parlangeli, G. (2019a). A low-complexity algorithm for shortest dubins paths with intermediate via points, 2019 27th Mediterranean Conference on Control and Automation (MED), Akko, Israel, pp. 495-500.
• [19] Parlangeli, G. (2019b). Shortest paths for Dubins vehicles in presence of via points, IFAC-PapersOnLine 52(8): 295-300.
• [20] Váňa, P. and Faigl, J. (2022). Bounding optimal headings in the Dubins touring problem, Proceedings of the 37th ACM/SIGAPP Symposium on Applied Computing, Brno, Czech Republic, pp. 770-773.
• [21] Váňa, P., Sláma, J., Faigl, J. and Pačes, P. (2018). Any-time trajectory planning for safe emergency landing, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, pp. 5691-5696.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).