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研究生:陳俊穎
研究生(外文):Chun-YingChen
論文名稱:應用theta star演算法於無人飛機路徑規劃
論文名稱(外文):Path Planning of UAV using Theta-Star Algorithm
指導教授:蕭樂群蕭樂群引用關係
指導教授(外文):Le-Chung Shiau
學位類別:碩士
校院名稱:國立成功大學
系所名稱:航空太空工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:英文
論文頁數:52
中文關鍵詞:UAV路徑規劃導引與導航theta star演算法
外文關鍵詞:UAVPath planningGuidance and Navigationtheta star algorithm
相關次數:
  • 被引用被引用:1
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  • 下載下載:135
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本篇論文主旨在於建立及驗證無人飛機路徑規劃系統。無人飛機路徑規劃透過考量地形資料誤差、GPS定位誤差、安全要求以及無人飛機本身效能,建立一能確保安全且低消耗的無人飛機任務路徑。整合GPS、無限傳輸模組、飛控系統與地面站後,由無人飛機系統去追蹤演算法所建立之任務路徑驗證。
A flight path planning system is built and verified in an unmanned aerial vehicle (UAV) in this thesis. Considering of the terrain data error, safety requirement, GPS positioning error and UAV performance, the proposed flight path planning determines a flight path and guarantees the safe flight in low cost. By integrating with GPS and communication modem into an open source autopilot, a UAV system performs flight path tracking to verify the flight path planning system from ground control station.
ABSTRACT i
ABSTRACT IN CHINESE ii
ACKNOWLEDGMENTS iii
CONTENTS iv
LIST OF TABLES vi
LIST OF FIGURES vii
Chapter 1 1
Introduction 1
1.1 Motivation 1
1.2 Literature Survey 3
1.3 Main Idea 5
1.4 Thesis Outline 6
Chapter 2 7
Flight Path Planning 7
2.1 Virtual Flight Map (VFM) 7
2.1.1 Digital Terrain Elevation Data 8
2.2 Path Planning Algorithm 15
2.2.1 Line of Sight 15
2.2.2 Theta-star Algorithm 16
2.3 Improvement of Flight Path 20
2.3.1 Mission Rank 21
2.3.2 Forbidden Zone 24
2.3.3 Path Smoothing 25
2.4 Remarks 25
Chapter 3 26
UAV Flight Control System 26
3.1 System Description 27
3.2 Control Law Description 29
3.3 Guidance and Navigation Algorithm 32
3.4 Remarks 35
Chapter 4 36
Verification 36
4.1 Experiment Setup 36
4.2 Result and Discussion 43
4.3 Remark 47
Chapter 5 48
Conclusion and Future Work 48
5.1 Conclusion 48
5.2 Future Work 49
References 50
[1] A. A, Proctor, B. Gwin, S. K. Kannan, A. A. Koller, H. B. Christophersen, E. N. Johnson, “Ongoing Development of an Autonomous Aerial Reconnaissance System at Georgia Tech, Aerial Robotics Competition, Georgia Institute of Technology, 2003.
[2] USA Department of Defense, Unmanned Aerial Vehicle (UAV) Roadmap 2002-2027, Progressive Management Press, December, 2002.
[3] Paparazzi, UAS project at ENAC University, since 2003, available on 2012, http://paparazzi.enac.fr/wiki/Main_Page
[4] L. D. Filippis, G. Guglieri, F. Quagliotti, “A Minimum Risk Approach for Path Planning of UAVs, Journal of Intelligent and Robotic Systems, Vol. 61, No. 1-4, pp. 203-219.
[5] W. Y. Chan, F. B. Hsiao, D. L. Sheu, “The Study of Flight Path Planning for Multiple Target Visitations, Ph.D. Dissertation, IAA, NCKU, Taiwan, 2007.
[6] J. Barraquand, B. Langlois, J. Latombe, “Numerical Potential Field Techniques for Robot Paht Planning, IEEE Transaction on Systems, Man and Cybernetics, Vol. 22, No. 2, 1992, pp. 224-241.
[7] Y. Hwang, N. Ahuja, “A Potential Field Approach to Path Planning, IEEE Transaction on Robotics and Automation, Vol. 8, No.1, 1992, pp. 23-32.
[8] E. Rippel, A. B. Gill, and N. Shimkin, “Fast Graph-Search Algorithms for General-Aviation Flight Trajectory Generation, Journal of Guidance, Control, and Dynamics, Vol. 28, No. 4, July-August, 2005, pp. 801-811.
[9] R. E. Bellman, “Dynamic Programming, Dover Publications, Dover edition, 2003, ISBN 0486428095.
[10] D. Rathbun, S. Kragelund, A. Pongpunwattana, and B. Capozzi, “An Evolution Based Path Planning Algorithm for Autonomous Motion of a UAV through Uncertain Environments, Digital Avionics Systems Conference, Vol. 2, 2002, pp. 8D2-1-8D2-12.
[11] J. D. Wang, D. Q. Hsiao, Introduction the Theory of Fuzzy Control and Neural Network, 2th edition, Chuan Hwa Press, 1993, Ch7, pp. 191-206.
[12] P. E. Hart, N. J. Nilsson, B. Raphael, “A Formal Basis for the Heuristic Determination of Minimum Cost Paths, IEEE Transactions on Systems Science and Cybernetics, vol. ssc4 (2), 1968, pp. 100-107.
[13] P. Lester, “A* Pathfinding of beginners, available on 2012, http://www.policyalmanac.org/games/aStarTutorial.htm
[14] A. Stentz, “The Focused D* Algorithm for Real-Time Replanning, Proceedings of the International Joint Conference on Robotics and Automation, August 1955, pp. 3310-3317.
[15] K. Daniel, A. Nash, S. Koenig and A. Felner, “Theta*: Any-Angle Path Planning on Grids, Journal of Artificial Intelligence Research, 39, 533-579, 2010.
[16] L. Dubins, “On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents, American Journal of Mathematics, Vol. 79, No.3, Jul 1957, pp. 497-516.
[17] S. S. Jan, Y. H. Lin, “Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters, Sensors, 2011, pp. 7052-7529.
[18] D. K. Pai, L. M. Reissell, “Multiresolution Rough Terrain Motion Planning, IEEE Transactions on Robotics and Automation, Vol. 14, No. 1, February 1988, pp. 19-33.
[19] A. S. Willsky, “Multiresolution Markov Models for Signal and Image Processing, Proceeding of the IEEE, Vol. 90, No. 8, August 2002.
[20] U.S. Geological Survey, available on 2012, http://www.usgs.gov/
[21] ASTER Global DEM, available on 2012, http://asterweb.jpl.nasa.gov/gdem.asp
[22] MICRODEM, available on 2012,
http://www.usna.edu/Users/oceano/pguth/website/microdem/microdem.htm
[23] H. J. Pan, C. E. Lin, “Realization of Unmanned Vehicle Guidance and Navigation using Fuzzy Control, Master Thesis, Department of Aeronautics and Astronautics, National Cheng Kung University, Taiwan, 2011.
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