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Smooth 3D Path Planning by Means of Multiobjective Optimization for Fixed-Wing UAVs

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Smooth 3D Path Planning by Means of Multiobjective Optimization for Fixed-Wing UAVs

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dc.contributor.author Samaniego, Franklin es_ES
dc.contributor.author Sanchís Saez, Javier es_ES
dc.contributor.author Garcia-Nieto, Sergio es_ES
dc.contributor.author Simarro Fernández, Raúl es_ES
dc.date.accessioned 2021-06-12T03:33:27Z
dc.date.available 2021-06-12T03:33:27Z
dc.date.issued 2020-01 es_ES
dc.identifier.uri http://hdl.handle.net/10251/167856
dc.description.abstract [EN] Demand for 3D planning and guidance algorithms is increasing due, in part, to the increase in unmanned vehicle-based applications. Traditionally, two-dimensional (2D) trajectory planning algorithms address the problem by using the approach of maintaining a constant altitude. Addressing the problem of path planning in a three-dimensional (3D) space implies more complex scenarios where maintaining altitude is not a valid approach. The work presented here implements an architecture for the generation of 3D flight paths for fixed-wing unmanned aerial vehicles (UAVs). The aim is to determine the feasible flight path by minimizing the turning effort, starting from a set of control points in 3D space, including the initial and final point. The trajectory generated takes into account the rotation and elevation constraints of the UAV. From the defined control points and the movement constraints of the UAV, a path is generated that combines the union of the control points by means of a set of rectilinear segments and spherical curves. However, this design methodology means that the problem does not have a single solution; in other words, there are infinite solutions for the generation of the final path. For this reason, a multiobjective optimization problem (MOP) is proposed with the aim of independently maximizing each of the turning radii of the path. Finally, to produce a complete results visualization of the MOP and the final 3D trajectory, the architecture was implemented in a simulation with Matlab/Simulink/flightGear. es_ES
dc.description.sponsorship The authors would like to acknowledge the Spanish Ministerio de Ciencia, Innovacion y Universidades for providing funding through the project RTI2018-096904-B-I00 and the local administration Generalitat Valenciana through projects GV/2017/029 and AICO/2019/055. Franklin Samaniego thanks IFTH (Instituto de Fomento al Talento Humano) Ecuador (2015-AR2Q9209), for its sponsorship of this work. es_ES
dc.language Inglés es_ES
dc.publisher MDPI AG es_ES
dc.relation.ispartof Electronics es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject UAV es_ES
dc.subject Path planning es_ES
dc.subject Smooth path planning es_ES
dc.subject Multiobjective optimization es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Smooth 3D Path Planning by Means of Multiobjective Optimization for Fixed-Wing UAVs es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.3390/electronics9010051 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/IFTH//AR2Q9209/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-096904-B-I00/ES/HERRAMIENTAS DE OPTIMIZACION MULTIOBJETIVO PARA LA CARACTERIZACION Y ANALISIS DE CONCEPTOS DE DISEÑO Y SOLUCIONES SUB-OPTIMAS EFICIENTES EN PROBLEMAS DE INGENIERIA DE SISTEMAS/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//AICO%2F2019%2F055/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//GV%2F2017%2F029/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Samaniego, F.; Sanchís Saez, J.; Garcia-Nieto, S.; Simarro Fernández, R. (2020). Smooth 3D Path Planning by Means of Multiobjective Optimization for Fixed-Wing UAVs. Electronics. 9(1):1-23. https://doi.org/10.3390/electronics9010051 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.3390/electronics9010051 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 23 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 9 es_ES
dc.description.issue 1 es_ES
dc.identifier.eissn 2079-9292 es_ES
dc.relation.pasarela S\403799 es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
dc.contributor.funder Instituto de Fomento al Talento Humano, Ecuador es_ES
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