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Optimal Path Planning and Power Allocation for a Long Endurance Solar-Powered UAV

Optimal Path Planning and Power Allocation for a Long Endurance Solar-Powered UAV. Saghar Hosseini, Ran Dai , and Mehran Mesbahi. Robotics, Aerospace, and Information Networks Lab. Motivation and Applications. Development of Solar-Powered UAVs

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Optimal Path Planning and Power Allocation for a Long Endurance Solar-Powered UAV

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  1. Optimal Path Planning and Power Allocation for a Long Endurance Solar-Powered UAV Saghar Hosseini, ACC 2013, Washington, DC Saghar Hosseini, Ran Dai, and Mehran Mesbahi Robotics, Aerospace, and Information Networks Lab

  2. Motivation and Applications • Development of Solar-Powered UAVs • The first solar-powered flying models was built in 1974 • NASA pathfinder was launched in 1998 with altitude of 80,201ft • Boeing Solar Eagle is expected to stay aloft for five years • Applications : • Surveillance and Reconnaissance Forest Fire Fighting Atmospheric Satellite Saghar Hosseini, ACC 2013, Washington, DC

  3. Outline • Previous work • Optimal control problem formulation • Nonlinear programming results • Reduced hybrid model • Examples • Future research The 2013 American Control Conference, June 17 - 19, Washington, DC Saghar Hosseini, ACC 2013, Washington, DC

  4. Previous Work • Level flight • Klesh and Kabamba (2007, 2009) • Cylinder • Spangelo et al. (2009) • 3D trajectory • Sachs et al. (2009) Saghar Hosseini, ACC 2013, Washington, DC

  5. Solar UAV Power Resources Saghar Hosseini, ACC 2013, Washington, DC

  6. Solar UAV Kinematics Saghar Hosseini, ACC 2013, Washington, DC

  7. Optimal Control Problem Saghar Hosseini, ACC 2013, Washington, DC

  8. Nonlinear Programming Results Climb Glide Glide Climb Level flight Level flight Saghar Hosseini, ACC 2013, Washington, DC

  9. Nonlinear Programming Results Climb Climb Glide Glide Level flight Level flight Saghar Hosseini, ACC 2013, Washington, DC

  10. Nonlinear Programing Results Saghar Hosseini, ACC 2013, Washington, DC

  11. Reduced Hybrid Model Saghar Hosseini, ACC 2013, Washington, DC

  12. Mode 1 : Low Altitude Level Flight Saghar Hosseini, ACC 2013, Washington, DC

  13. Mode 2 : Steady climb Saghar Hosseini, ACC 2013, Washington, DC

  14. Examples Saghar Hosseini, ACC 2013, Washington, DC

  15. Examples Saghar Hosseini, ACC 2013, Washington, DC Computation time

  16. Reduced Hybrid Model Result Saghar Hosseini, ACC 2013, Washington, DC

  17. Future Research • Coverage Problem • Thermal fields/Wind gust • Coordinated flight • Mission planning Saghar Hosseini, ACC 2013, Washington, DC

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