UAV Two-dimensional Path Planning in Real-time Using Fuzzy Logic - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook UAV Two-dimensional Path Planning in Real-time Using Fuzzy Logic write by Chelsea Sabo. This book was released on 2011. UAV Two-dimensional Path Planning in Real-time Using Fuzzy Logic available in PDF, EPUB and Kindle. There are a variety of scenarios in which the mission objectives rely on a UAV being capable of maneuvering in an environment containing obstacles in which there is little prior knowledge of the surroundings. In these situations, not only can these obstacles be dynamic, but sometimes there is no way to plan ahead of the mission to avoid them. Additionally, there are many situations in which it is desirable to send in an exploratory robot where the environment is dangerous/ contaminated and there is a great deal of uncertainty. These scenarios could either be too risky to send people or not available to humans. With an appropriate dynamic motion planning algorithm in these situations, robots or UAVs would be able to maneuver in any unknown and/or dynamic environment towards a target in real-time. An autonomous system that can handle these varying conditions rapidly and efficiently without failure is imperative to the future of unmanned aerial vehicle (UAV). This paper presents a methodology for two-dimensional path planning of a UAV using fuzzy logic. This approach is selected due to its ability to emulate human decision making and relative ease of implementation. The fuzzy inference system takes information in real time about obstacles (if within the agent's sensing range) and target location and outputs a change in heading angle and speed. The FL controller was validated for both simple (polygon obstacles in a sparse space) and complex environments (i.e. non-polygon obstacles, symmetrical/concave obstacles, dense environments, etc). Additionally, Monte Carlo testing was completed to evaluate the performance of the control method. Not only was the path traversed by the UAV often the exact path computed using an optimal method, the low failure rate makes the Fuzzy Logic Controller (FLC) feasible for exploration. The FLC showed only a total of 3% failure rate, whereas an Artificial Potential Field (APF) solution, a commonly used intelligent control method, had an average of 18% failure rate. Also, the APF method failed about 1/3 of the time for very dense environments (the FLC only had 5% failure rate). These results highlighted one of the advantages of the FLC method: its adaptability to additional rules while maintaining low control effort. Furthermore, the solutions showed superior results when compared to the APF solutions when compared to distance traversed. Overall, the FLC produced solutions that were on average only about 7.7% greater distance traveled (as opposed to 9.7% for the APF).
UAV Path Planning and Obstacle Avoidance Based on Fuzzy Logic and Kinodynamic RRT Methods
UAV Path Planning and Obstacle Avoidance Based on Fuzzy Logic and Kinodynamic RRT Methods - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook UAV Path Planning and Obstacle Avoidance Based on Fuzzy Logic and Kinodynamic RRT Methods write by Long Chen. This book was released on 2022. UAV Path Planning and Obstacle Avoidance Based on Fuzzy Logic and Kinodynamic RRT Methods available in PDF, EPUB and Kindle. Path Planning is one of the important problems to be explored in unmanned aerial vehicle (UAV) to find the optimal path between starting position and destination. The aim of path planning technique is not only to find the shortest path but also to provide the collision-free path for the UAV in unknown environment. Although there have been significant advances on the methods of path planning where the map of environment is known in advance, there are still some challenges to be addressed for dynamic autonomous navigation for the UAV in unknown environment. This thesis research proposes a new path planning method named Fuzzy Kinodynamic RRT for unmanned aerial vehicle flying in the unknown environment. This method generates a global path based on RRT [1] (Rapidly-exploring random tree) and utilizes fuzzy logic system to avoid obstacles in real time. A set of heuristics fuzzy rules are designed to lead the UAV away from unmodeled obstacles and to guide the UAV towards the goal. The rules are also tested in different scenarios, and they are all working efficiently both in simple and complicated cases. The UAV starts to fly along the path generated by RRT, and the fuzzy logic system is then activated when it comes across the obstacle. When the sensor detects no collision within a specific distance, the fuzzy system is turned off and the UAV flies back to the previous path towards the final destination. The simulations of the developed algorithm have been carried out in various scenarios, with the sensor to detect the obstacles. The numerical simulations show the satisfactory results in various scenarios for path planning that considerably reduces the risk of colliding with other stationary and moving obstacles. A more robust and efficient fuzzy logic controller which embeds the path planning is finally proposed and the simulation shows the satisfactory results in complicated environments.
Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2020
Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2020 - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2020 write by Aboul Ella Hassanien. This book was released on 2020-09-19. Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2020 available in PDF, EPUB and Kindle. This book presents the proceedings of the 6th International Conference on Advanced Intelligent Systems and Informatics 2020 (AISI2020), which took place in Cairo, Egypt, from October 19 to 21, 2020. This international and interdisciplinary conference, which highlighted essential research and developments in the fields of informatics and intelligent systems, was organized by the Scientific Research Group in Egypt (SRGE). The book is divided into several sections, covering the following topics: Intelligent Systems, Deep Learning Technology, Document and Sentiment Analysis, Blockchain and Cyber Physical System, Health Informatics and AI against COVID-19, Data Mining, Power and Control Systems, Business Intelligence, Social Media and Digital Transformation, Robotic, Control Design, and Smart Systems.
Unmanned Aircraft Systems
Unmanned Aircraft Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Unmanned Aircraft Systems write by Kimon P. Valavanis. This book was released on 2008-12-21. Unmanned Aircraft Systems available in PDF, EPUB and Kindle. Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last decade in both military and civilian domains. It is anticipated that civilian applications will be dominant in the future, although there are still barriers to be overcome and technical challenges to be met. Integrating UAS into, for example, civilian space, navigation, autonomy, see-detect-and-avoid systems, smart designs, system integration, vision-based navigation and training, to name but a few areas, will be of prime importance in the near future. This special volume is the outcome of research presented at the International Symposium on Unmanned Aerial Vehicles, held in Orlando, Florida, USA, from June 23-25, 2008, and presents state-of-the-art findings on topics such as: UAS operations and integration into the national airspace system; UAS navigation and control; micro-, mini-, small UAVs; UAS simulation testbeds and frameworks; UAS research platforms and applications; UAS applications. This book aims at serving as a guide tool on UAS for engineers and practitioners, academics, government agencies and industry. Previously published in the Journal of Intelligent and Robotic Systems, 54 (1-3, 2009).
Cooperative Path Planning of Unmanned Aerial Vehicles
Cooperative Path Planning of Unmanned Aerial Vehicles - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Cooperative Path Planning of Unmanned Aerial Vehicles write by Antonios Tsourdos. This book was released on 2010-11-09. Cooperative Path Planning of Unmanned Aerial Vehicles available in PDF, EPUB and Kindle. An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.
