Route planning for unmanned air vehicles

Tulum, Kamil
In this thesis, automatic routing technologies for unmanned air vehicles are investigated. A route planner that minimizes the fuel consumption and maximizes the survivability is developed. While planning the route, using more than one objective entails the auto-routing problem to multi-objective optimization considerations. In this work, these considerations are handled with search algorithms. In order to assess the route options, a fuel consumption model and a survivability model are utilized for the route planner. As the assessment models are established, required computational time is taken into account without deteriorating the fidelity.


Modeling and experimental evaluation of variable speed pump and valve controlled hydraulic servo drives
Çalışkan, Hakan; Balkan, Raif Tuna; Department of Mechanical Engineering (2009)
In this thesis study, a valveless hydraulic servo system controlled by two pumps is investigated and its performance characteristics are compared with a conventional valve controlled system both experimentally and analytically. The two control techniques are applied on the position control of a single rod linear actuator. In the valve controlled system, the flow rate through the actuator is regulated with a servovalve; whereas in the pump controlled system, two variable speed pumps driven by servomotors reg...
Distributed control system for cnc machine tools
Kanburoğlu, A. Furkan; Dölen, Melik; Department of Mechanical Engineering (2009)
“Numerically Controlled” (NC) machine tools, which are automatically operated by encoded (digital) commands, are capable of machining components with quality and quantity. Manufacturing industry heavily depends on these machines. Many different control architectures have been adapted in today’s CNC technology. Centralized control system is quite popular in industry due to its ease of implementation. If the number of controlled axes on a CNC machine tool (>3), increases so does the computational burden on th...
Universal command generator for robotics and cnc machinery
Akıncı, Arda; Dölen, Melik; Department of Mechanical Engineering (2009)
In this study a universal command generator has been designed for robotics and CNC machinery. Encoding techniques has been utilized in order to represent the commands and their efficiencies have been discussed. The developed algorithm generates the trajectory of the end-effector with linear and circular interpolation in an offline fashion, the corresponding joint states and their error envelopes are computed with the utilization of a numerical inverse kinematic solver with a predefined precision. Finally, t...
Dynamic modelling of a backhoe-loader
Kılıç, Boran; Balkan, Raif Tuna; Department of Mechanical Engineering (2009)
The aim of this study is to develop a dynamic model of the loader system of a backhoe-loader. Rigid bodies and joints in the loader mechanism and loader hydraulic system components are modelled and analyzed in the same environment using the physical modelling toolboxes inside the commercially available simulation software, MATLAB/Simulink. Interaction between the bodies and response of the hydraulic system are obtained by co-operating the mechanical and hydraulic analyses. System variables such as pressure,...
GPS based altitude control of an unmanned air vehicle using digital terrain elevation data
Ataç, Selçuk; Platin, Bülent Emre; Department of Mechanical Engineering (2006)
In this thesis, an unmanned air vehicle (UAV) is used to develop a prototype base test platform for flight testing of new control algorithms and avionics for advanced UAV system development applications. A control system that holds the UAV at a fixed altitude above the ground is designed and flight tested. Only the longitudinal motion of the UAV is considered during the controller design, hence its lateral motions are controlled manually by a remote control unit from the ground. UAV’s altitude with respect ...
Citation Formats
K. Tulum, “Route planning for unmanned air vehicles,” M.S. - Master of Science, Middle East Technical University, 2009.