Seminar: UAV Guidance Using Componentized Vector Fields for Circumnavigation and Obstacle Avoidance

Abstract

UAV flight paths commonly consist of waypoints connected by straight-line segments. Activities such as circumnavigation and obstacle avoidance can push the limits of waypoints by requiring constant path recomputing, generating interest in other methods of guidance that are smoother. The use of vector field guidance was investigated as a possible UAV guidance solution that does not rely upon line segments or waypoints. Aerial circumnavigation of a slower moving ground vehicle and pop-up obstacle avoidance can be achieved by utilizing vector fields with individual perpendicular components. Control over the vector components of convergence toward and circulation around a path allows for a customized field to be generated that is naturally smooth. Obstacle avoidance was achieved using turning rate dynamics of UAVs with an optimizer to generate vector field solutions that would minimally deviate from a desired sensor data collection path. Circumnavigation using component vector fields that include a time varying field can be used to maintain a set standoff distance while the target moves. Simulations and experiments were utilized to investigate circumnavigation and obstacle avoidance by exploring the parameter space of obstacles sizes, vehicle speed and turning rate. This talk will discuss current progress with component path following vector fields and their application to guidance for fixed wing UAVs that must operate in conditions where smooth path generation is desired.

About the speaker

Jay Wilhelm is an assistant professor of mechanical engineering at Ohio University and a research member of the Avionics Engineering Center. He has 12 years of research-level experience with controls, guidance, intelligent systems, sensor testing and system integration along with over 40 technical publications. Wilhelm directs the OU-IDEAS (Innovative Developments for Engineering Aerospace Systems) where students can learn about autonomous aerial vehicle systems and design while creating new knowledge. He has worked with AFRL, ARL, US Army ARDEC, NSF, several DoD SBIR/STTR’s, Ohio Development Services Agency and consulted with industry. Wilhelm’s education is multi-disciplinary, with a PhD in mechanical engineering and MS/BS in electrical engineering. At Ohio University, Wilhelm teaches mechatronics and rocket and missile systems and is the faculty advisor for the rocket team and human powered vehicle club that each compete in national events.

Hosted by Prof. Jim Gregory and Matt McCrink, research scientist