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Helen F. Oliveira
Programa de Graduação em Engenharia de Controle & Automação, Universidade Federal de Minas Gerais, MG
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Brenner S. Rego
Programa de Pós Graduação em Engenharia Elétrica, Universidade Federal de Minas Gerais, MG
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Guilherme V. Raffo
Programa de Pós Graduação em Engenharia Elétrica, Universidade Federal de Minas Gerais, MG; Departamento de Engenharia Eletrônica, Universidade Federal de Minas Gerais, MG
Keywords:
UAVs, Reachability Analysis, Constrained Zonotopes, Safe Regions for UAVs
Abstract
The demand for the development of technologies associated to the urban airspace has grown considerably. Unmanned Aerial Vehicles (UAVs) have been used in several activities, such as load transportation in emergency situations, package delivery, recreation, among others. In order to obtain safe regions for navigation of UAVs in an urban scenario, from a starting point to an arrival point, in this paper we use reachability analysis which is characterized by ensuring safety constraints in systems with bounded uncertainties. These uncertainties can be operation constraints, disturbances, among others. In order to use this technique, it is necessary to choose the most adequate representation of sets, which in this work is the constrained zonotope one. Since this representation deals with convex sets and, in the urban scenario, the admissible region for UAV navigation can be non-convex, the technique of partitioning non-convex sets into convex parts is applied. The application of the proposed methodology brought satisfactory results regarding the fulfillment of safety constraints and computational efficiency to obtain safe regions.
