Lyapunov and minimum-time path planning for drones

36 pagesIn this paper, we study the problem of controlling an unmanned aerial vehicle (UAV) to provide a target supervision and/or to provide convoy protection to ground vehicles. We first present a control strategy based upon a Lyapunov-LaSalle stabilization method to provide supervision of a stationary target. The UAV is expected to join a pre-designed admissible circular trajectory around the target which is itself a fixed point in the space. Our strategy is presented for both HALE (High Altitude Long Endurance) and MALE (Medium Altitude Long Endurance) types UAVs. A UAV flying at a constant altitude (HALE type) is modeled as a Dubins vehicle (i.e. a planar vehicle with constrained turning radius and constant forward velocity). For a UAV that might change its altitude (MALE type), we use the general kinematic model of a rigid body evolving in $\R^3$. Both control strategies presented are smooth and unlike what is usually proposed in the literature these strategies asymptotically track a circular trajectory of exact minimum turning radius. We also present the time-optimal control synthesis for tracking a circle by a Dubins vehicle. This optimal strategy, although much simpler than the point-to-point time-optimal strategy obtained by P. Souéres and J.-P. Laumond in the 1990s (see [45]), is very rich. Finally, we propose control strategies to provide supervision of a moving target, that are based upon the previous ones