Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles

Date

2016-11-01

Author

Cicibas, Halil
Demir, Kadir Alpaslan
ARICA, NAFİZ

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

222
views

0
downloads

This research compares 3D versus 4D (three spatial dimensions and the time dimension) multi-objective and multi-criteria path-planning for unmanned aerial vehicles in complex dynamic environments. In this study, we empirically analyse the performances of 3D and 4D path planning approaches. Using the empirical data, we show that the 4D approach is superior over the 3D approach especially in complex dynamic environments. The research model consisting of flight objectives and criteria is developed based on interviews with an experienced military UAV pilot and mission planner to establish realism and relevancy in unmanned aerial vehicle flight planning. Furthermore, this study incorporates one of the most comprehensive set of criteria identified during our literature search. The simulation results clearly show that the 4D path planning approach is able to provide solutions in complex dynamic environments in which the 3D approach could not find a solution.

Subject Keywords

Unmanned aerial vehicles, UAV, Path planning, Modelling, Simulation, 3D path planning, 4D path planning

URI

https://hdl.handle.net/11511/67127

Journal

DEFENCE SCIENCE JOURNAL

DOI

https://doi.org/10.14429/dsj.66.9575

Collections

Department of Computer Engineering, Article

Suggestions

OpenMETU
Core

Dielectric function of the two-dimensional electron liquid: An analytical fitting Bulutay, C; Tomak, Mehmet (1996-03-15) For electron-electron interactions in two-dimensional electronic systems the technique proposed by Singwi, Tosi, Land, and Sjolander (STLS) has been very promising. In this work, after showing the asymptotic behavior of the STLS local held correction we propose a simple expression for the local-held correction that contains two fitting parameters which are smoothly varying functions of the electronic density. The agreement of the fitting for the pair correlation function is remarkable. It further leads to a...
Feedback motion planning of a novel fully actuated unmanned surface vehicle via sequential composition of random elliptical funnels Özdemir, Oğuz; Ankaralı, Mustafa Mert; Department of Electrical and Electronics Engineering (2022-12-27) This thesis proposes and analyzes a motion planning and control schema for unmanned surface vehicles that fuses sampling-based approaches’ probabilistic completeness with closed-loop approaches’ robustness. The Proposed schema is based on the sequential composition of elliptical funnels, and it consists of two stages: tree generation and motion control. For validation of the approach, we carried out experiments using both simulation and physical setup besides the mathematical analysis. In order to have a co...
Optimum design of high-speed flexible robotic arms with dynamic behavior constraints Oral, Süha (1997-10-01) A methodology is presented for the optimum design of robotic arms under time-dependent stress and displacement constraints by using mathematical programming. Finite elements are used in the modeling of the flexible links. The design variables are the cross-sectional dimensions of the elements. The time dependence of the constraints is removed through the use of equivalent constraints based on the most critical constraints. It is shown that this approach yields a better design than using equivalent constrain...
Fast Algorithms for Digital Computation of Linear Canonical Transforms Koc, Aykut; Öktem, Sevinç Figen; Ozaktas, Haldun M.; Kutay, M. Alper (2016-01-01) Fast and accurate algorithms for digital computation of linear canonical transforms (LCTs) are discussed. Direct numerical integration takes O.N-2/time, where N is the number of samples. Designing fast and accurate algorithms that take O. N logN/time is of importance for practical utilization of LCTs. There are several approaches to designing fast algorithms. One approach is to decompose an arbitrary LCT into blocks, all of which have fast implementations, thus obtaining an overall fast algorithm. Another a...
A new approach to neural trip distribution models: NETDIM Tapkin, Serkan; Akyilmaz, Ozdemir (Informa UK Limited, 2009-01-01) This paper develops and presents a new neural network approach to model trip distribution, which is one of the important phases of conventional four-step travel demand modelling. The trip distribution problem has been investigated using back-propagation artificial neural networks in a number of studies and it was concluded that back-propagation artificial neural networks underperform when compared to traditional models. Such underperformance is due to the thresholding of the linearly combined inputs by util...

Citation Formats

H. Cicibas, K. A. Demir, and N. ARICA, “Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles,” DEFENCE SCIENCE JOURNAL, pp. 651–664, 2016, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/67127.