Real time unmanned air vehicle routing

Karabay, Nail
In this thesis, we study real-time routing of an unmanned air vehicle (UAV) in a twodimensional dynamic environment. The UAV starts from a base point, visits all targets and returns to the base point, while all targets change their locations during the mission period. We find the best route for the route planner (RP) considering two objectives; minimization of distance and minimization of radar detection threat. We develop a real-time algorithm to find the UAV’s most preferred route for a RP who has an underlying linear or quadratic preference function. In this algorithm, we structure the nondominated frontiers of the trajectories between each target pair and find a route using these trajectories. The algorithm updates the route of the UAV each time the UAV arrives at a target. As the UAV must return to the base target at the end of its journey, we solve a multi-objective shortest Hamiltonian path problem to find a route rather than a multi-objective traveling salesperson problem each time the UAV visits a target. To reduce the computational burden, we develop k-closest heuristic. In this heuristic, instead of structuring the nondominated frontiers between all target pairs, for each target, we select k closest targets and structure only the nondominated vi frontiers of these k targets. In addition, we develop an adaptive algorithm to determine the value of k. For the RP who has a quadratic preference function, we choose among {u1D45B} nondominated trajectories for each target pair to find a route. We consider the cases n = 1 and n > 1, seperately. We demonstrate all algorithms on different examples


Landing autopilot design for an unmanned aerial vehicle /
Ak, Ayşe İlden; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2014)
In this thesis, studies for the development of a landing autopilot for the UAV (Unmanned Aerial Vehicle), Pioneer RQ2 are presented. Firstly, 6 DOF (degree of freedom) nonlinear model of Pioneer is implemented in Matlab-Simulink based on FDC (Flight Dynamics and Control) Toolbox. Then, in accordance with steady-state wings level flight condition, trim points are found for different airspeed values, constant height and zero flight path angle. The nonlinear model of Pioneer is linearized at these trim points ...
Mission planning for unmanned aerial vehicle (UAV) teams
Yılgın, Serdar; Polat, Faruk; Department of Computer Engineering (2014)
In recent years, use of Unmanned Aerial Vehicle (UAV) especially for reconnaissance and combat missions has become very popular in worldwide. There is no onboard human operator exists for UAVs and they are generally controlled by remote human operators. Depending on the operational environment; sometimes it becomes nearly impossible to provide optimal or an acceptable UAV – target assignment and scheduling, satisfying the constraints required to accomplish the mission, for the operators in control center. I...
Development of an autopilot for automatic landing of an unmanned aerial vehicle
Arıbal, Seçkin; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2011)
This thesis presents the design of an autopilot and guidance system for an unmanned aerial vehicle. Classical (PID) and modern control (LQT, Sliding Mode) methods for autonomous navigation and landing in adverse weather conditions are implemented. Two different guidance systems are designed in order to navigate through waypoints during normal and/or emergency flight. The nonlinear Pioneer UAV model is used in controller development and simulations. Aircraft is linearized at different trim points and total a...
Path planning and coordinated guidance of multiple unmanned aerial vehicles
Ergezer, Halit; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2013)
In this thesis, both off-line and online coordinated path planning for Unmanned Aerial Vehicles (UAVs) are studied. These problems have emerged due to the increasing needs for UAVs in both military and civil applications. To accomplish a certain objective, both the path planning for a single UAV and for multiple UAVs have been examined. Although there are previous studies in this field, we focus on maximizing the collected information instead of minimizing the total mission time. Studies carried out in this...
Autopilot design for a quadrotor /
Büyüksarıkulak, Mehmet Sami; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2014)
Nowadays, UAVs (Unmanned Aerial Systems) are important study areas for military and academic world. These systems can play crucial roles in some applications, especially in hazardous environments due to the fact that no human pilot will undergo danger. Quadrotor is an underactuated UAV system which has four fixed rotors and four degrees of freedom. Roll, pitch and yaw rotations and elevation/declination can be changed by differences of propeller velocity of rotors with respect to each other. Horizontal moti...
Citation Formats
N. Karabay, “Real time unmanned air vehicle routing,” M.S. - Master of Science, Middle East Technical University, 2018.