Towards a generic model of adaptative geofencing focused on operationnal issues
Identifieur interne : 000531 ( Hal/Checkpoint ); précédent : 000530; suivant : 000532Towards a generic model of adaptative geofencing focused on operationnal issues
Auteurs : Laurent Ciarletta [France] ; Thomas Gurriet [France]Source :
English descriptors
- mix :
- Drone, Geofencing, RPAS, UAV, UAS.
Abstract
We introduce the reasoning and concepts behind a generic approach to obstacle avoidance based on geofencing. In this paper we try to tackle the issue of UAV safety from a practical point of view and propose a collision avoidance system based on safety considerations in real life scenarios. Before doing so, we review some of the related technical aspects in an operational context: global positioning in different reference systems and how to switch between the associated coordinates systems. After looking at the different cartographic representations used in aeronautics and how to apprehend them, we introduce the concept of fence. We then discuss the different possible representations of such geometries. For some, we expose the formulas for calculating distances to the surface of the fence and whether or not the drone has trespassed it. We finally propose two collision avoidance strategies: one in the case of autonomous flight and another in the case of piloted flight. To our knowledge, this second scenario has not been extensively covered and we feel it deserves some attention since most of the UAV’s flying todays are flown manually. This avoidance is based on constrained optimization to find an input for the controller which prevent collision while staying as true as possible to the original command from the human operator. This strategy allows for “smooth” collision avoidance since it gently and continuously restrict the flight possibilities of the UAV while giving as much control freedom as possible to the operator. Finally, we discuss the impact of drone dynamics on our system and how we could take moving fences into consideration.
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Hal:hal-01251309Le document en format XML
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CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term> Drone</term><term> Geofencing</term><term> RPAS</term><term> UAV</term><term>UAS</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We introduce the reasoning and concepts behind a generic approach to obstacle avoidance based on geofencing. In this paper we try to tackle the issue of UAV safety from a practical point of view and propose a collision avoidance system based on safety considerations in real life scenarios. Before doing so, we review some of the related technical aspects in an operational context: global positioning in different reference systems and how to switch between the associated coordinates systems. After looking at the different cartographic representations used in aeronautics and how to apprehend them, we introduce the concept of fence. We then discuss the different possible representations of such geometries. For some, we expose the formulas for calculating distances to the surface of the fence and whether or not the drone has trespassed it. We finally propose two collision avoidance strategies: one in the case of autonomous flight and another in the case of piloted flight. To our knowledge, this second scenario has not been extensively covered and we feel it deserves some attention since most of the UAV’s flying todays are flown manually. This avoidance is based on constrained optimization to find an input for the controller which prevent collision while staying as true as possible to the original command from the human operator. This strategy allows for “smooth” collision avoidance since it gently and continuously restrict the flight possibilities of the UAV while giving as much control freedom as possible to the operator. Finally, we discuss the impact of drone dynamics on our system and how we could take moving fences into consideration.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Towards a generic model of adaptative geofencing focused on operationnal issues</title><author role="aut"><persName><forename type="first">Laurent</forename><surname>Ciarletta</surname></persName><email>Laurent.Ciarletta@loria.fr</email><idno type="halauthor">56635</idno><affiliation ref="#struct-205122"></affiliation></author><author role="aut"><persName><forename type="first">Thomas</forename><surname>Gurriet</surname></persName><email>thomas.gurriet@gatech.edu</email><idno type="halauthor">1267329</idno><orgName ref="#struct-413289"></orgName><affiliation ref="#struct-205122"></affiliation></author><editor role="depositor"><persName><forename>Laurent</forename><surname>Ciarletta</surname></persName><email>Laurent.Ciarletta@loria.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2016-01-05 23:00:00</date><date type="whenWritten">2015-02</date><date type="whenModified">2016-01-07 01:04:27</date><date type="whenReleased">2016-01-05 23:00:00</date><date type="whenProduced">2015-05-05</date></edition><respStmt><resp>contributor</resp><name key="102893"><persName><forename>Laurent</forename><surname>Ciarletta</surname></persName><email>Laurent.Ciarletta@loria.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-01251309</idno><idno type="halUri">https://hal.inria.fr/hal-01251309</idno><idno type="halBibtex">ciarletta:hal-01251309</idno><idno type="halRefHtml">3rd AETOS International Workshop on Research Challenges for Future RPAS/UAS , May 2015, Atlanta, United States. 3rd AETOS International Workshop on Research Challenges for Future RPAS/UAS 2016, <`http://www.auvsishow.org/auvsi2015/public/Content.aspx?ID=1631></idno><idno type="halRef">3rd AETOS International Workshop on Research Challenges for Future RPAS/UAS , May 2015, Atlanta, United States. 3rd AETOS International Workshop on Research Challenges for Future RPAS/UAS 2016, <`http://www.auvsishow.org/auvsi2015/public/Content.aspx?ID=1631></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="INRIA-LORRAINE">INRIA Nancy - Grand Est</idno><idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno><idno type="stamp" n="LORIA-NSS" p="LORIA">Réseaux, systèmes et services</idno><idno type="stamp" n="LORIA2">Publications du LORIA</idno><idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="UNIV-LORRAINE">Université de Lorraine</idno><idno type="stamp" n="INRIA2">INRIA 2</idno><idno type="stamp" n="LORIA">LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="0">No</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Towards a generic model of adaptative geofencing focused on operationnal issues</title><author role="aut"><persName><forename type="first">Laurent</forename><surname>Ciarletta</surname></persName><email>Laurent.Ciarletta@loria.fr</email><idno type="halAuthorId">56635</idno><affiliation ref="#struct-205122"></affiliation></author><author role="aut"><persName><forename type="first">Thomas</forename><surname>Gurriet</surname></persName><email>thomas.gurriet@gatech.edu</email><idno type="halAuthorId">1267329</idno><orgName ref="#struct-413289"></orgName><affiliation ref="#struct-205122"></affiliation></author></analytic><monogr><title level="m">3rd AETOS International Workshop on Research Challenges for Future RPAS/UAS </title><meeting><title>3rd AETOS International Workshop on Research Challenges for Future RPAS/UAS </title><date type="start">2015-05-05</date><date type="end">2016-01-06</date><settlement>Atlanta</settlement><country key="US">United States</country></meeting><imprint><date type="datePub">2016-05-04</date></imprint></monogr><ref type="publisher">`http://www.auvsishow.org/auvsi2015/public/Content.aspx?ID=1631</ref></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">UAS</term><term xml:lang="en"> UAV</term><term xml:lang="en"> RPAS</term><term xml:lang="en"> Drone</term><term xml:lang="en"> Geofencing</term></keywords><classCode scheme="halDomain" n="info.info-ni">Computer Science [cs]/Networking and Internet Architecture [cs.NI]</classCode><classCode scheme="halDomain" n="info.info-es">Computer Science [cs]/Embedded Systems</classCode><classCode scheme="halDomain" n="info.info-pf">Computer Science [cs]/Performance [cs.PF]</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">We introduce the reasoning and concepts behind a generic approach to obstacle avoidance based on geofencing. In this paper we try to tackle the issue of UAV safety from a practical point of view and propose a collision avoidance system based on safety considerations in real life scenarios. Before doing so, we review some of the related technical aspects in an operational context: global positioning in different reference systems and how to switch between the associated coordinates systems. After looking at the different cartographic representations used in aeronautics and how to apprehend them, we introduce the concept of fence. We then discuss the different possible representations of such geometries. For some, we expose the formulas for calculating distances to the surface of the fence and whether or not the drone has trespassed it. We finally propose two collision avoidance strategies: one in the case of autonomous flight and another in the case of piloted flight. To our knowledge, this second scenario has not been extensively covered and we feel it deserves some attention since most of the UAV’s flying todays are flown manually. This avoidance is based on constrained optimization to find an input for the controller which prevent collision while staying as true as possible to the original command from the human operator. This strategy allows for “smooth” collision avoidance since it gently and continuously restrict the flight possibilities of the UAV while giving as much control freedom as possible to the operator. Finally, we discuss the impact of drone dynamics on our system and how we could take moving fences into consideration.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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