Название: Guidance and Control of Unmanned Vehicles, 2nd Edition
Автор: Rafael Yanushevsky
Издательство: CRC Press
Год: 2026
Страниц: 307
Язык: английский
Формат: pdf (true), epub
Размер: 42.2 MB

Guidance and Control of Unmanned Vehicles demonstrates how the developed guidance laws can be applied to a wide class of unmanned vehicles, including aerial, ground, water, and underwater vehicles.

Drawing upon the author’s innovative approach and new research, this new edition presents a rigorous theory of guidance based on the parallel navigation rule and formulates an expanded guidance problem and guidance laws that can be applied to all unmanned vehicles. The book also discusses the obstacle avoidance problem for unmanned vehicles, and avoidance algorithms. Readers will learn how to choose optimal parameters of guidance laws based on the Lyapunov-Bellman approach. It also includes a new chapter on the role of unmanned vehicle operators.

Unmanned aerial vehicles (UAVs) represent the fastest-growing and the most dynamic growth segment within the aerospace industry. The rapidly increasing fleet of UAVs, along with the widening sphere of their applications, puts new problems before their designers. Although now unmanned aerial vehicles are used mostly in military applications (intelligence, surveillance, and reconnaissance missions and combat operations—strike missions, suppression and/or destruction of enemy and its facilities), their future potential civil applications are enormous (e.g., border patrol, forest fire monitoring and firefighting, and nonmilitary security work, such as surveillance of industrial sites and road/rail infrastructure, mineral exploration, coastal surveillance, pipeline surveillance, spraying of fertilizers and insecticides, aerial photography, land mapping, environmental monitoring, transportation, and gathering scientific data).

Considered as aerial robots, current UAVs have designers pay their main attention to such technologies as imaging, communications, electro-optical sensor systems, and sensor fusion, that is, the technologies that would provide an operator with a reliable visual information that allowed the pilot of an aircraft to make decisions concerning the future flight path. These topics are widely discussed in many publications. Publications related to the controllers that generate the pilot’s type of actions don’t contain anything new from the standpoint of control theory.

However, scientific publications focused on trajectory generation and regulation, task allocation, and scheduling, that is, the problems that help an operator choose an optimal trajectory from one location to another for various possible mission scenarios, contribute to the design of the future generation of UAVs, in which the operator’s involvement will be minimized. Since the flight of autonomously guided UAVs is, in many features, similar to the flight of cruise missiles, their guidance systems are built similar to those of existing cruise missiles. However, UAVs are employed in high-risk environments. The ability to sense and avoid obstacles, both natural and man-made, and to rebuild its flight pass is an important feature that UAVs should possess, and the corresponding algorithms should be embedded in their guidance and control system.

The guidance of unmanned vehicles (UAVs, UGVs, UWVs, and UUVs) differs from missile guidance. Its goal is different and depends on a concrete area of their application. The book contains the description of types and components of these vehicles. If to perform simple scripted navigation functions such as waypoint following, various types of unmanned vehicles can use missile guidance laws; for more complicated problems, for example, for refueling an aircraft, the guidance problem becomes a rendezvous-type problem. The moving objects should be on a fixed distance, and their velocities should coincide. To address a wide class of guidance problems for the considered types of vehicles, a more general guidance problem is formulated, and a class of guidance laws is developed. In addition, the obstacle avoidance problem for unmanned vehicles is discussed, and avoidance algorithms are developed.

This book will interest scientists, industry researchers, and practicing engineers working on the performance of various unmanned vehicles. It can serve as a basis for several graduate courses in the fields of electrical, mechanical, aerospace, and computer engineering.