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Author : Emre Koyuncu
Release : 2008
Genre :
Kind : eBook
Book Rating : /5 ( reviews)
Book Synopsis Probabilistic Motion Planning in Complex Environments for Unmanned Aerial Vehicles by : Emre Koyuncu
Download or read book Probabilistic Motion Planning in Complex Environments for Unmanned Aerial Vehicles written by Emre Koyuncu. This book was released on 2008. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Emre Koyuncu
Release : 2010
Genre :
Kind : eBook
Book Rating : 787/5 ( reviews)
Book Synopsis Dynamically Feasible Probabilistic Motion Planning in Complex Environments for UAVs by : Emre Koyuncu
Download or read book Dynamically Feasible Probabilistic Motion Planning in Complex Environments for UAVs written by Emre Koyuncu. This book was released on 2010. Available in PDF, EPUB and Kindle. Book excerpt: Trajectory design of an air vehicle in dense and complex environments, while pushing the limits of the vehicle to full performance is a challenging problem in two facets. The first facet is the control system design over the full flight envelope and the second is the trajectory planning utilizing the full performance of the aircraft. In this work, we try to address the mostly second facet via the generating dynamically feasible trajectory planning. Hence, a real-time implementable two step planner strategy is implemented for obtaining 3D flight-path generation for an Unmanned Aerial Vehicles in 3D Complex environments. Thus simplifications on the problem improved the real time implement ability. In our approach, initially, simplified version of the RRT planner is used for rapidly exploring the environment with an approximate line segments. The resulting connecting path is converted into flight way points through a line-of-sight segmentation. In second step, we explained two different methods to generate dynamically feasible trajectory. First one that we called Modal-Maneuver Based PRM Planner is developed for agile unmanned aerial vehicles that their maneuvers can be define with distinct modes. This allows significant decreases in control input space and thus search dimensions. In this approach the resulting connectivity path and the corresponding milestones are refined with a single query Probabilistic Road Map (PRM) implementation that creates dynamically feasible flight paths with distinct flight mode selections and their modal control inputs. In our second approach, remaining way points are connected with cubic (C2 continuous) B-Spline curve and this curve is repaired probabilistically to obtain a geometrically (prevents collisions) and dynamically feasible (considers velocity and acceleration constraints) path. At the end, the time scaling approach allow dynamic achievability considering the velocity and acceleration limits of the aircrafts. Resulting strategy is tested on real-time physical hardware system using ITU CAL mobile robot testbed for 2D environments and simulations for 3D complex environments. Computational times showed satisfactory results to used for real time implementation for UAVs operations in challenging urban environments.
Author : Yasmina Bestaoui Sebbane
Release : 2014-01-10
Genre : Technology & Engineering
Kind : eBook
Book Rating : 072/5 ( reviews)
Book Synopsis Planning and Decision Making for Aerial Robots by : Yasmina Bestaoui Sebbane
Download or read book Planning and Decision Making for Aerial Robots written by Yasmina Bestaoui Sebbane. This book was released on 2014-01-10. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an introduction to the emerging field of planning and decision making for aerial robots. An aerial robot is the ultimate form of Unmanned Aerial Vehicle, an aircraft endowed with built-in intelligence, requiring no direct human control and able to perform a specific task. It must be able to fly within a partially structured environment, to react and adapt to changing environmental conditions and to accommodate for the uncertainty that exists in the physical world. An aerial robot can be termed as a physical agent that exists and flies in the real 3D world, can sense its environment and act on it to achieve specific goals. So throughout this book, an aerial robot will also be termed as an agent. Fundamental problems in aerial robotics include the tasks of spatial motion, spatial sensing and spatial reasoning. Reasoning in complex environments represents a difficult problem. The issues specific to spatial reasoning are planning and decision making. Planning deals with the trajectory algorithmic development based on the available information, while decision making determines priorities and evaluates potential environmental uncertainties. The issues specific to planning and decision making for aerial robots in their environment are examined in this book and categorized as follows: motion planning, deterministic decision making, decision making under uncertainty and finally multi-robot planning. A variety of techniques are presented in this book, and a number of relevant case studies are examined. The topics considered in this book are multidisciplinary in nature and lie at the intersection of Robotics, Control Theory, Operational Research and Artificial Intelligence.
Author : Antonios Tsourdos
Release : 2010-11-09
Genre : Technology & Engineering
Kind : eBook
Book Rating : 648/5 ( reviews)
Book Synopsis Cooperative Path Planning of Unmanned Aerial Vehicles by : Antonios Tsourdos
Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos. This book was released on 2010-11-09. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Author : Houssem Abdellatif
Release : 2010-02-01
Genre : Science
Kind : eBook
Book Rating : 788/5 ( reviews)
Book Synopsis Robotics 2010 by : Houssem Abdellatif
Download or read book Robotics 2010 written by Houssem Abdellatif. This book was released on 2010-02-01. Available in PDF, EPUB and Kindle. Book excerpt: Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development.
