论文标题
在动荡的天气下，具有发动机故障的自动着陆的多层改编
Multi-level Adaptation for Automatic Landing with Engine Failure under Turbulent Weather
论文作者
论文摘要
本文介绍了可能的紧急着陆点，在线导航以及在发动机熄火下自动降落的路径的有效可行性评估。拟议的多层次自适应安全控制框架使无人驾驶飞机（UAV）在大型不确定性下能够执行具有足够经验的人类飞行员的安全操作。在此框架中，首先将简化的飞行模型用于一组着陆点和轨迹生成的时间效率可行性评估。然后，使用在线路径后路径控制器来跟踪所选的着陆轨迹。我们使用高保真模拟环境为固定翼飞机测试和验证在各种天气不确定性下所提出的方法。对于由于发动机故障在恶劣的天气条件下引起的紧急降落的情况，模拟结果表明，拟议的自动着陆框架对于不确定性和在不同的着陆阶段进行适应性稳定，同时在规划和跟踪任务上计算便宜。
This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive Safety Control framework enables unmanned aerial vehicles (UAVs) under large uncertainties to perform safety maneuvers traditionally reserved for human pilots with sufficient experience. In this framework, a simplified flight model is first used for time-efficient feasibility evaluation of a set of landing sites and trajectory generation. Then, an online path following controller is employed to track the selected landing trajectory. We used a high-fidelity simulation environment for a fixed-wing aircraft to test and validate the proposed approach under various weather uncertainties. For the case of emergency landing due to engine failure under severe weather conditions, the simulation results show that the proposed automatic landing framework is robust to uncertainties and adaptable at different landing stages while being computationally inexpensive for planning and tracking tasks.
