3D PATH PLANNING SYSTEM DESIGN AND DEVELOPMENT FOR UNMANNED AERIAL VEHICLE

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JAFARI H.; Kharrati H.

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Paper Information

Journal: TABRIZ JOURNAL OF ELECTRICAL ENGINEERING Year:2016 | Volume:46 | Issue:3 (77) Page(s): 83-94

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Title

3D PATH PLANNING SYSTEM DESIGN AND DEVELOPMENT FOR UNMANNED AERIAL VEHICLE

Author(s)

JAFARI H. | Kharrati H. | Issue Writer Certificate

Keywords

UNMANNED AERIAL VEHICLEQ2

OPTIMIZATIONQ2

AUTONOMOUS SYSTEMQ2

PATH PLANNINGQ2

NONLINEAR CONTROLQ2

BTT GUIDANCEQ2

Abstract

In this paper guidance and control of UAVs has been discussed using autonomous PATH PLANNING system to operate different missions under various conditions and with minimum human intervention. An AUTONOMOUS SYSTEM can be divided into PATH PLANNING system and path following system. The PATH PLANNING system is responsible for producing a flight path while the path following system generates proper commands to control and guide plane through the path. In this paper some waypoints has been considered in a hypothetical environment with obstacles and no fly zone regions and the optimal path is generated using genetic algorithm. First, the path will be refined to prevent from collusion, then in order to be a flyable path, we will smooth the path considering UAV’s dynamic constraints and finally the generated path is used as an input for UAV. Using BTT GUIDANCE method with NONLINEAR CONTROLlers have caused UAV to follow the reference path faster with lower deviation error from the path and all simulation results are shown.

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APA: Copy

JAFARI, H., & Kharrati, H.. (2016). 3D PATH PLANNING SYSTEM DESIGN AND DEVELOPMENT FOR UNMANNED AERIAL VEHICLE. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, 46(3 (77)), 83-94. SID. https://sid.ir/paper/256462/en

Vancouver: Copy

JAFARI H., Kharrati H.. 3D PATH PLANNING SYSTEM DESIGN AND DEVELOPMENT FOR UNMANNED AERIAL VEHICLE. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING[Internet]. 2016;46(3 (77)):83-94. Available from: https://sid.ir/paper/256462/en

IEEE: Copy

H. JAFARI, and H. Kharrati, “3D PATH PLANNING SYSTEM DESIGN AND DEVELOPMENT FOR UNMANNED AERIAL VEHICLE,” TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, vol. 46, no. 3 (77), pp. 83–94, 2016, [Online]. Available: https://sid.ir/paper/256462/en

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