Mathematical Model of Unmanned Aircraft In Ground Effect for Optimal Collision Avoidance

摘要

The fundamental aim of the present paper is toudmodel the aerodynamic characteristics of anudUnmanned Aerial Vehicle(UAV) flying inudground effect. The second aim is to determineudthe relationship between the optimal avoidanceudmaneuver and the control to execute it. In fact,udthis relationship is basilar to the development ofuda guidance scheme capable of approximatingudthe optimal trajectory in real time. In the firstudpart of this work ,a non-linear model is built inudorder to model the aerodynamic characteristicsudof an UAV flying In Ground Effect. To use audsingle model in the whole range of flyingudaltitude, aerodynamic coefficients are modeledudby means of hyperbolic equations. In particular,udthese ones depend on the ground distance.udSuch a model is employed to describeudaerodynamic forces and moments in theudequations of motion which are used in order toudobtain optimal trajectories for solving theudcollision avoidance problem.