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Peter Ryseck
Приєднався 18 лис 2009
I try to make unique things and sometimes I make videos about them. My goal is to expose different research topics and inspire others to pursue their own ideas within the forum of UA-cam rather than explicitly research papers. More research: www.researchgate.net/profile/Peter-Ryseck/research
Formation Flight Path Planning Algorithm
A swarm of aircraft path plan to take advantage of the efficiency gain from flying together as a formation. I first explain how birds take advantage of one another to reduce induced drag and the challenges associated with applying this method to aircraft today. I then explain why it is difficult to predict formation flight paths and the algorithm I came up with to solve it. I then show the python function working with pygame and finish off with some conclusions about how an algorithm like this could be useful to implement formation flight swarm behavior in the future.
Thanks for watching! If you have any questions about my implementation or otherwise, feel free to ask. I glossed over a lot of details for the sake of brevity.
Sources:
1: ua-cam.com/video/2sh8_3-R90I/v-deo.html
2: Lissaman PB, Shollenberger CA. Formation flight of birds. Science. 1970 May 22;168(3934):1003-5. doi: 10.1126/science.168.3934.1003. PMID: 5441020.
3: ua-cam.com/video/7pC90YyP18A/v-deo.html
4: www.air-and-space.com/Wing%20Tip%20Coupling%20B-29%20F-84.htm
5: ua-cam.com/video/JS6w-DXiZpk/v-deo.html
6: ua-cam.com/video/wuGuNu9q-P8/v-deo.html&
7: ua-cam.com/video/-tv6uEN_BiY/v-deo.html
8: ua-cam.com/video/4pTMM9ZUpTQ/v-deo.html&
9: ua-cam.com/video/hSBZT73iTQ8/v-deo.html&
10: ua-cam.com/video/wABg5nVsi3M/v-deo.html&
11: ua-cam.com/video/3bDyeUiWL3M/v-deo.html&
12: P. E. Hart, N. J. Nilsson and B. Raphael, "A Formal Basis for the Heuristic Determination of Minimum Cost Paths," in IEEE Transactions on Systems Science and Cybernetics, vol. 4, no. 2, pp. 100-107, July 1968, doi: 10.1109/TSSC.1968.300136.
13: Karaman, Sertac, and Emilio Frazzoli. "Sampling-based algorithms for optimal motion planning." The international journal of robotics research 30.7 (2011): 846-894.
Relevant Formation Flight Papers:
14: Xu, Jia, et al. "Aircraft route optimization for formation flight." Journal of Aircraft 51.2 (2014): 490-501.
15: Shen, He, et al. "ENERGY-SAVING FORMATION FLIGHT."
16: Xu, Jia, et al. "Aircraft route optimization for heterogeneous formation flight." 53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference 20th AIAA/ASME/AHS Adaptive Structures Conference 14th AIAA. 2012.
17: Mahboubi, Zouhair, et al. "Camera based localization for autonomous UAV formation flight." Infotech@ Aerospace 2011. 2011. 1658.
Thanks for watching! If you have any questions about my implementation or otherwise, feel free to ask. I glossed over a lot of details for the sake of brevity.
Sources:
1: ua-cam.com/video/2sh8_3-R90I/v-deo.html
2: Lissaman PB, Shollenberger CA. Formation flight of birds. Science. 1970 May 22;168(3934):1003-5. doi: 10.1126/science.168.3934.1003. PMID: 5441020.
3: ua-cam.com/video/7pC90YyP18A/v-deo.html
4: www.air-and-space.com/Wing%20Tip%20Coupling%20B-29%20F-84.htm
5: ua-cam.com/video/JS6w-DXiZpk/v-deo.html
6: ua-cam.com/video/wuGuNu9q-P8/v-deo.html&
7: ua-cam.com/video/-tv6uEN_BiY/v-deo.html
8: ua-cam.com/video/4pTMM9ZUpTQ/v-deo.html&
9: ua-cam.com/video/hSBZT73iTQ8/v-deo.html&
10: ua-cam.com/video/wABg5nVsi3M/v-deo.html&
11: ua-cam.com/video/3bDyeUiWL3M/v-deo.html&
12: P. E. Hart, N. J. Nilsson and B. Raphael, "A Formal Basis for the Heuristic Determination of Minimum Cost Paths," in IEEE Transactions on Systems Science and Cybernetics, vol. 4, no. 2, pp. 100-107, July 1968, doi: 10.1109/TSSC.1968.300136.
13: Karaman, Sertac, and Emilio Frazzoli. "Sampling-based algorithms for optimal motion planning." The international journal of robotics research 30.7 (2011): 846-894.
Relevant Formation Flight Papers:
14: Xu, Jia, et al. "Aircraft route optimization for formation flight." Journal of Aircraft 51.2 (2014): 490-501.
15: Shen, He, et al. "ENERGY-SAVING FORMATION FLIGHT."
16: Xu, Jia, et al. "Aircraft route optimization for heterogeneous formation flight." 53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference 20th AIAA/ASME/AHS Adaptive Structures Conference 14th AIAA. 2012.
17: Mahboubi, Zouhair, et al. "Camera based localization for autonomous UAV formation flight." Infotech@ Aerospace 2011. 2011. 1658.
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Відео
Variable Tilt-Wing Tail-Sitter
Переглядів 9 тис.Рік тому
Could this concept make a tail-sitter aircraft more efficient and maneuverable? In this video, a variable angle of incidence wing is married to a tail-sitter. This could make the vehicle more efficient across a wider speed range, as it decouples the rotor disk plane from the wing angle of attack, thereby keeping the wing out of stall. This could have other advantages too, like improved maneuver...
Cutting off a Critical Motor Wire | Fault Tolerance
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I discuss what 'Fault Tolerance' means for eVTOL aircraft, and demonstrate the concept on my small scale eVTOL. Watch to find out if it can still fly! Original Joby eVTOL replica video: ua-cam.com/video/Dd2N_lyO_SQ/v-deo.html Further reading of fault tolerance and testing on an experimental vehicle: arc.aiaa.org/doi/pdf/10.2514/6.2019-3269
Flying RC eVTOL Joby Aircraft Model
Переглядів 13 тис.2 роки тому
Build, code and flight of the 1 : 30 scale eVTOL replica Joby Aircraft! From CAD to functioning vehicle in one week, not a bad first iteration! Need to tune some more gains, strap a camera to it somewhere and wait for better weather before attempting full forward flight. Stay (PID) tuned! Joby Aircraft: www.jobyaviation.com/ dRehm Flight VTOL: github.com/nickrehm/dRehmFlight Download the cad fi...
Endurance Wing for Mini QBiT
Переглядів 1,6 тис.2 роки тому
Endurance wing to extend flight time for Mini QBiT. I’ve stopped selling the kits, thank you to all who bought one and for the interest in this project! New things to come… Timestamps: 0:00 Intro 0:15 Flight with Endurance Wing Set 11:21 Rotor & Wing Interactions
Mini QBiT Review by Joshua Bardwell Q&A Follow Up
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Answering some common questions from the recent review of the Mini QBiT by Joshua Bardwell. www.miniqbit.com/ Joshua Bardwell's Mini QBiT Video: ua-cam.com/video/Qti1KLy5JbE/v-deo.html Mini QBiT paper: www.researchgate.net/publication/348751087_Experimental_Flight_Testing_of_Wing_Configurations_for_High-Speed_Mini_Quadrotor_Biplane_Tail-sitter Original Quadrotor Biplane Journal Paper: www.resea...
Missile Launch Transition with Mini QBiT
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I always wondered if I could transition from hover to forward flight like a russian missile... Turns out I can! www.miniqbit.com/ I wonder how the missile transitions back to vertical? ...
Chasing the VTOL Tail-sitter Mini QBiT!
Переглядів 1,8 тис.3 роки тому
Using a 5" quad to chase the Mini QBiT through obstacles and more! I’ve stopped selling the kits, thank you to all who bought one and for the interest in this project! New things to come…
FPV Mini QBiT Fun Fly | Hula Hoops and Crashes!
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Racing the Mini QBiT V2 through hoola hoops and crashing it every once in a while... Super fun and very low stress to fly (it never broke!) I’ve stopped selling the kits, thank you to all who bought one and for the interest in this project! New things to come…
How To Build the Mini QBiT: Step by Step Build Tutorial | From parts to flying!
Переглядів 2,4 тис.3 роки тому
An in depth tutorial on how to build the Mini QBiT: a RC VTOL winged tail-sitter and a first in its class. I’ve stopped selling the kits, thank you to all who bought one and for the interest in this project! New things to come… I am no longer selling the Mini QBiT, thank you for your generous support! 0:00 Intro 0:20 Mini QBiT Kit 2:28 Electronics 3:22 VLOS Build 15:09 FPV Build 24:18 Control R...
Building an Amazon Prime Drone! (It's awesome)
Переглядів 2,8 тис.3 роки тому
I've always been fascinated by the amazon prime drone's design... So I built my own, and it's awesome. Original Amazon Prime Air video: ua-cam.com/video/3HJtmx5f1Fc/v-deo.html&ab_channel=amazon Nick's Channel: ua-cam.com/channels/Pe7XrmOPtz4OjL6KGtvJMA.html Build your own! Wing Drawings and STL Files: drive.google.com/drive/folders/192dh5X1XywosBr3-HT236c8iKxe6Mpkl?usp=sharing Electronics: Part...
Flying a Plane
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We survived Nick's channel: ua-cam.com/channels/Pe7XrmOPtz4OjL6KGtvJMA.html Song: Shook - Milestones
How to setup the Mini Qbit - A Complete Walkthrough - Electronics, Betaflight, Control Mixes | OLD
Переглядів 1,8 тис.3 роки тому
This video is now outdated, watch the new build video here: ua-cam.com/video/aEVJ1pyfKg0/v-deo.html I am no longer selling the Mini QBiT, thank you for your generous support! This video will walk you through all of the steps you'll need to take to setup your very own Mini Qbit. If you have questions, let me know in the comments below. 1st Vid (Vehicle Config): ua-cam.com/video/8UOTyEGb7qE/v-deo...
It's a great time to get an eBike! 3000W eBike Updates
Переглядів 29 тис.4 роки тому
Social distance in style with a high powered DIY ebike. Past videos of this bike: Custom eBike Light Upgrade! (w/ Remote Key Start SUPER bright): ua-cam.com/video/RTl-xa3w9xU/v-deo.html Best Way to Travel in College: 3000W Electric Bike: ua-cam.com/video/0niTkvsqh7E/v-deo.html DIY Electric Bicycle to Electric Motorcycle Upgrade: ua-cam.com/video/ucZII9ZR8Wc/v-deo.html Riding through DC with a H...
FPV Dual Camera Switching for Hover and Forward Flight | Mini QBiT
Переглядів 2,1 тис.4 роки тому
I am no longer selling the Mini QBiT, thank you for your generous support! Original Mini Qbit Video: ua-cam.com/video/8UOTyEGb7qE/v-deo.html&t= Parts list on pryseck.wixsite.com/mysite Are you interested in buying a Mini Qbit? Let me know in the comments below! Music by Dyalla Swain ua-cam.com/users/dyalla
A New Kind of Quadcopter! Introducing the Mini QBiT
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A New Kind of Quadcopter! Introducing the Mini QBiT
Custom eBike Light Upgrade! (w/ Remote Key Start + SUPER bright)
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A Unique RC Aircraft! | Morphing Winglet Quad-Biplane
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A Unique RC Aircraft! | Morphing Winglet Quad-Biplane
I broke my hand and got stuck in a cast
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I broke my hand and got stuck in a cast
Best Way to Travel in College: 3000W Electric Bike
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Convert a 3d Printer to a Hot Wire Cutter for your desk or workspace!
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Convert a 3d Printer to a Hot Wire Cutter for your desk or workspace!
Flight Testing a New RC Airplane (VTOL) !
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Flight Testing a New RC Airplane (VTOL) !
Riding through DC with a Homemade Electric Bike on July 4
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Riding through DC with a Homemade Electric Bike on July 4
Electric Mountain Bike in the Snow with BBSO2 750 Watts
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Starting the Build, Foldable Electric Longboard, Update #4
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Starting the Build, Foldable Electric Longboard, Update #4
Update #3 Foldable Longboard (testing and new designs)
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Update #3 Foldable Longboard (testing and new designs)
This is a really interesting build. But I wonder if the final result is a device that is neither a great quad nor a great wing. Given the amount of time it spends as a wing, and that you use a camera switch (rather than gimbal), why not just build it as a twin rotor wing with VTOL capability? You could place the 2nd (liftoff) camera at a 45° downward angle (with respect to wing) for takeoff and landing (or if you want to float around at slow speed). There is so much drag when the wings are vertical, there is little benefit to having rotors forward and aft anyway - I am guessing you can get good pitch authority just with props blowing on the elevons.
Peter, you may want to delete the link, since the miniqbit domain is no longer active and could get hijacked.
Thanks buddy for drop this video,that's huge benefit for me🥰
We fckn love it bruh!
Can you share your Onshape design to me? I would like to make a copy and improve a few things before trying it.
would be interesting to have a more dynamic approach where the drone will check if there is a drone in the area with a similar flight path. Both drones would need to ad hoc decide if the path adjustments would be worth to fly together. This would have the effect that there could be multiple rendezvous and breakup points per flight. For this I'd write the algo in a way that every 'plane' would build the optimal path along some nodes and whenever there is a 'plane' nearby the middle path of both will be calculated and compared against the optimal path. This could be done in a loop for N waypoints (N < remaining nodes in flight path) to generate the optimal path.
this approach has the benefit of being closer to a real world scenario where not every plane would have to start and stop synchronised
can you do a tutorial of the wiring? how did you not use any pins for the drehmflight boards? 😍
I am interested this drone
I need to know more about formation flight path. How to keep distance between them to avoid collision by having single path in between goal and start state. can you share code? implementation
Why did you stop selling it?
Ahh the i term thing...thanks so much!
does the foam board help flight time without any camber? It's kind of interesting, wonder why all drones aren't just like that then.
What wing setup would allow for max speed? Monoplane in the middle? And shape?
Overall, have all of your crashes been due to pilot error or some of it due to the drone design? If yes to latter, what are the limitations or maneuvers to avoid
Very interesting idea! I was super curious to see Joshua’s review, but unfortunately it’s not available (UA-cam says it’s private). Does anyone know how to get access to it?
Yeah I'm not sure what happened, I guess he removed it.
If I may... you should always have a Victorinox (wrongly named Swiss Army Knife) on you 🙂
Sorry to Tell You I built This 15 years ago.
cool, where's the video?
@@peterryseck They Didn’t have Videos Back Then.
4:34 How is the Music Artist Please?
well done mate!
Looking forward for next improvement
Great! which Autopilot did you use for it? And Did you design the whole model at Simulink then upload the generated code on a microcontroller board or you used a build-in configuration?
Thanks! In this case I used Betaflight.
The downwash flow of the propeller is quite different from the upcoming flow , I don’t think it’s necessary to change the incident angle if the wing is hiding behind the downwash disks of the propellers.
Hi, great video! Is this script available anywhere for download and use with in own projects?
Thanks a bunch :) Not at this time, maybe I'll clean it up and publish it to a public repo though!
@@peterryseck that would be awesome!
Very informative and professional video! Thanks for sharing.
thanks!
Great Job! Thanks for sharing this video. I'm looking forward to seeing more contents from you.
More to come!
i wanna buy this,,please give me link
Hey, this is awesome! I'm building a similar RC model. Can you please share the 3D Printing files in stl format? Thank you!
Wow! Nice job doing all that. Not sure, though, why you talk about the importance of building a scaled down version of the concept as if it were a new idea. All evtol companies do that.
A fascinating problem to explore. There are many details to consider when comes to real world application. For example with actual aircraft the flight path lengths will vary from the ground path lengths due to wind. Flying into a headwind will make effective flight paths longer, vs shorter (time) for paths that align with the wind. Other details like how the additional aircraft are position relative to the first can vary based on speed and design and weight of an aircraft. No complaints, just realizing the real world complexity. Love the visualizations and the detailed explanations.
Lovely visualization, great video. One critique: I'm not sure your using RRT* effectively. The first pass, which seems to be the regular RRT* seems to have no affect. I'm not sure if I've missed something, but after the first pass you seem to only retain the points/nodes, and rerun RRT* again with a different setting. I assume you could just select nodes at random, without any pathing calculations, and run the second pass. As for the second pass, the configuration seems a bit suspicious to me. Since you don't limit the search radius, doesn't this degenerate the RRT* to a more basic search algorithm? I'm not an expert in pathing algorithms though, I'm sure I missed some important points. Correcting my ignorance would be most welcomed.
Thanks! Good questions, Yes I could skip the first pass and just increase the neighborhood radius, that was just an artifact of me figuring out how to make the algorithm work as I worked on it. The second pass is still running RRT*, the only difference is that I increased the neighborhood radius to reconnect new nodes. If I limited it, the paths between nodes would be unnecessarily discontinuous. The downside is that this is a more costly approach, because when a new node is placed on the map, it checks new paths with all the other nodes, not just a few near it.
Did you also make the amount of cost saving change depending on the amount of aircraft in formation? What if the aircraft take off at different times ? What other applications do you have in mind? I’m a robotics engineer with MSc in drone design, my dissertation is about unmanaged, unmanned battery swapping landing platforms for vtol UAVs. What if you have “refuel stations” spread across the region?
Thanks for the good questions! I did not change the cost saving with number of aircraft, but the relative energy saved per aircraft and their relative position with other aircraft isn't as significant and assuming they all save the same amount of energy is a decent approximation. Timing/scheduling was not something I spent much effort optimizing for here, would probably need data from amazon or elsewhere to understand the specifics on that. Lots of applications in DOD, medical delivery, package delivery, surveillance, radar avoidance, etc. Sounds like a fascinating thesis! Refuel stations would probably only be needed if the range required to deliver a package is greater than the vehicle's independent range or formation range. If there were refuel locations on the map, it would be another metric to check for when calculating the final paths. So I could see it working similarly to other start/end locations, just with a different set of considerations.
Lot of work, nice video, superb theory...built on sand. The position where to fly in close formation is difficult to find, will vary with speed and altitude and in addition, this will increase collision risk. And your figure, gain of 50 or 70% of fuel is far from being demonstrated. Even if the starting point (economy of energy) has still to be demonstrated and quantified by real measurement, nice 👍 job.
Thanks! 70% cost saving is theoretical, I applied 30% saving in the examples I showed.
I assume the leading bird expends more energy then the trailing birds. But is there an understanding on birds energy expenditures between leading bird and last bird?
There is research on this and it does vary per bird, not sure how well it is understood though.
@@peterryseck great I’ll look into it thanks. The reason I ask is because it probably makes sense to rotate planes to rotate the heavy work/ expenses. I can imagine a world where multiple companies would want to join in formation but also share costs.
Based on your previous videos, id suggest using ROS2 + PX4 instead of Ardupilot to code this. It's a bit steeper of a learning curve but its way better maintained than Ardupilot so you will have less headaches!
Did both drones get the 30% benefit or only n-1 of a set of n flying together as the leader doesn't get any benefit. The omniscient algorithm then has to direct per the greater good rather than individuals coordinating for personal gain (game theory stuff). Cycling leaders may affect the willingness to coordinate though. Very interesting idea!!!
Thanks!! Good question, in this case I applied 30% benefit to all the drones as an approximation. Past research suggests the leader bird does get some benefit from flying with other birds but it's less significant. So in the case of 2 drones, we could assume a true benefit of 15% per drone assuming they alternate positions. To your latter point, yes, there are some interesting decisions that I had to make based on whether I wanted to help the entire swarm or help individual drones. For instance, when drones join together, I calculate their collective cost by calculating the norm rather than the sum, as I want a somewhat even distribution to benefit the system on a per drone basis.
How you try the Google wing drone
But, do you know why bird formations are sometimes asymmetric?
Good question, doesn't seem like anyone has figured that out from my review of past research. I'm not sure there is any aerodynamic performance benefit to one vs. the other, perhaps it is just more convenient to fall in line closest to whichever side they're already on or they just prefer one side similar to the way we are right vs. left handed. I'll go ask a bird next time I see one
Actually it’s because there’s more birds on one side than the other
@@NicholasRehmI love this joke!!! Especially when told to engineering/technical folks!
🙄
@@NicholasRehmBrutal
Buying a higher quality microphone is one of the best, easiest investments you can make
As always, this is great work and fantastic, clear technical communication 👍🏻
Thanks for the kind words and support 😊
since you allow for longer distance travelled to increase efficiency, aren't there some other options that should be considered for more optimal routing ? (realizing that complexity might explode). The thoughts below revolve around scenarios where a formation flight might have occurred but for slight mismatch in timing when passing over a possible randevou point. This can be ""corrected"" by a) varying speed - drone (a) should slow down, so the drone (b) can catchup with it b) delayed or staggered departure - drone (a) should take off slightly after (b) so they coincide at the right point and time
Good questions! Yes there are definitely other factors to consider which makes the problem explode in complexity/computational expense which I've simply chosen to ignore as a result. For instance, flying fast will require greater energy/unit of distance vs. flying slow, so the factor of energy consumption in relation to scheduling is not something I chose to consider, I think it could be important depending on the exact set of conditions/start/end points. Another thing I chose to ignore, environmental factors like wind direction might influence the direction of flight and might cause aircraft to join one another faster should they need to travel upwind.
I see this becoming a thing with kamikaze drones flying in flocks to increase the loiter time and have them break off as needed.
Don't give them ideas!
They might be easier to shoot down though that way
This was fascinating. You should explore what happens when the efficiency increases as a function of how many drones are flying together (instead of just fixed at 70%). My rough hypothesis is that when birds fly together, it is a bit like tricking the air to think there's just one bird with a very high aspect ratio wing. So the more birds, the larger the equivalent big-bird aspect ratio, and the higher the collective L/D. Implementing this might motivate the algorithm to prefer formation flying even more.
Thank you! Yeah exactly, and there’s a lot more aspects to explore here such as the leader bird switching positions with others and coordinating that switch based on who needs to fly furthest.
any suggestion for make a toys?
You are Super Man! and this is Perfect project!
if you're looking for efficiency, one longer wing would work better, esp if inbetween the rotorwash.
why not have a single larger wing beteen the rotors. interaction would be minimised then
Good question! One reason is that the wings can become structural components stiffening the structure at the motors. In addition, with the wings directly under the props, the prop wash helps keep the flow attached thereby reducing stall behavior. But mono-wing designs are certainly a good option for other reasons :)
@Peter Ryseck Now do a Lilium Jet.
Hiii very cool Can i use pixhawk instead hglrc728?
This gave me an idea: You should be able to use the hotend as normal and just swap out the nozzle for some sort of stiff metal rod like solid copper wire or a small screw, and then use the 3d printer like a sort of router, the foam would just get stuck to the bed with double sided tape or something and you'd cut the foam leaving like 0.4mm at the bottom and you'd finish the rest with a normal box cutter. It could work for making some foam inserts and such.