Experimental Evaluation of Robustness of Panel-Method-Based Path Planning for Urban Air Mobility

BİLGİN Z., Bronz M., YAVRUCUK İ.

AIAA AVIATION 2022 Forum, Illinois, Amerika Birleşik Devletleri, 27 Haziran - 01 Temmuz 2022 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.2514/6.2022-3509
  • Basıldığı Şehir: Illinois
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

© 2022, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.In this study, robustness of panel method based path planning algorithm under wind disturbances is evaluated experimentally. Panel method, borrowed from fluid dynamics domain, is a numeric tool for calculating the potential field around arbitrarily shaped objects. Resultant potential field can be used for generating collision free trajectories for uncrewed aerial vehicles with convergence guarantee. Robustness of the proposed method is demonstrated during indoor experiments with a wind generator creating wind speed up to 7 m/s and also during outdoor experiments with wind speeds ranging between 3-5 m/s. Experiment results suggest that panel method based path planning scheme maintains its obstacle avoidance property under wind disturbances.