Papers by Keyword: UAV

Abstract: An Unmanned Aerial vehicle (UAV), commonly known as drone, is an aircraft without a human pilot aboard. In recent years, some UAVs are deployed for civil applications, such as policing, firefighting, air pollution monitoring, and aerial search and rescue, etc. Unmanned Aerial vehicle generally include fixed-wing and multi-rotor aircrafts. This research had developed a high endurance quadcopter for search and rescue mission. Target position correction software also was developed in this research. This program uses GPS coordinates embedded in the EXIF information of the aerial photos and more accurately calculates the target’s position. The target’s position error is less than ten meters in 75 meters altitude. Keywords: target position correction software, search and rescue, UAV, quadcopter, and GPS.

Abstract: In this paper is intended to study and develop embedded systems for use in controlling the operation of the Unmanned Aerial Vehicle (UVA) to work effectively under automatic control system. As well as to design flight control 4 blades, which uses an ATmega328 microcontroller controls the four motors and fly under equilibrium conditions. The embedded system is defined boundary conditions for UAV to suit the operation of the UAV. The Wi-Fi signal is used to transmit data in order to bring the instruction set processor to control the operation of UAV and displayed to the user immediately. Operation of the UAV based on the conditions that were set by the user to suit the scope of work that user need. Nowadays, high technology machines and robots for use in agriculture is very much in some areas. In order to reduce the work of human and still operates efficiently as well. Thus was born the idea to put apply including embedded systems and robotics in order to be used in agriculture to function effectively. Appropriate to the environment and work under human control.

Abstract: In this paper, the basic principle and design procedure of the quantitative feedback theory (QFT) are summarized, then control system of a UAV is designed with the QFT theory. The QFT theory can solve the robust design problem of the UAV control system due to the model parameters uncertainty perfectly. And a method of robust design for UAV is put forward from engineering application perspective. Compared with traditional control method, the simulation result shows that the control system designed by the QFT theory not only has more perfect control effect but has significant value in the engineering application.

Abstract: This paper presents the development of a flight simulator for a fixed-wing propeller-driven UAV. A new architecture for UAV low-level functional units is presented. The work involves modeling main low-level units of the UAV, which includes modeling of aircraft lateral and longitudinal dynamics and controlling of flight-path states holding. Key characteristics for aerodynamics and propulsion properties are calculated. A nested PID loops are used to provide a low-level control necessary for intelligent control and mission planning and execution. Simulation results are demonstrated in order to validate the effectiveness of the flight simulator and thereby providing an infrastructure low-level abstraction platform that can be used for various multi-level algorithms testing.

Abstract: This article is based on the theory of fractional calculus control, and put forward a kind of fractional order PI controller design method for lateral attitude control system of unmanned aerial vehicle (UAV) model. And the unit step response of the control system is analyzed in the simulation to improve the UAV flight control system stability and robustness. Use the controller parameter tuning method and combined with fuzzy reasoning to design IOPID controller, FOPI controller and fuzzy fractional order PI controller. Then, by exploiting Matlab, the frequency domain response and unit step response characteristics of the different control systems can be plotted. The results verified that the designed fuzzy fractional order controller for the attitude control system is effective.

Abstract: The primary goal of this work is to propose an alternative methodology as a first approach in the design of control systems by means of a feedback state gain. The proposed method is detailed and an application is presented. The results show relevant aspects regarding the state feedback gain, especially in regard to variation in the parameters of the plant.

Abstract: Adjusting method of traditional PID controller is complicated. The controller obtained by adjusting method of traditional PID may be not optimal. Therefore, present paper utilized the genetic algorithm to optimize the PID controller parameter of roll channel of quadrotor UAV. According to the feature of lateral stability control model of quadrotor UAV, ascend time of system, steady state error, and weighted overshoot are chosen as objective function. In order to obtain the better control effect, penalty function is used to limit the oscillation of system. Simulation results show that PID controller designed by the genetic algorithm possess the excellent flexibility, adaptability and can produce the better control effect.

Abstract: In multiple UAVs cooperative search tasks, the traditional environment model was based on squares, which caused the problem of different cost in each UAV’s single step. Therefore, we divide the battlefield by regular hexagons to make the UAVs’ steps more coordinate. At the same time, the cell’s encoding method was improved, which can greatly reduce the computing complexity of the coordinates. Route planning is an important part in cooperative search to decide where to go and how to search. By analyzing the method of route planning with several steps, Model Predictive Control (MPC) was proved to be an easy and effective method. However it became a complex probem to selecte a best route from so big amount of planning routes. Then the method of Discrete Particle Swarm Optimal (DPSO) was proposed to solve this problem. In order to evaluate the value of the route, an evaluate function was designed, containing the reward function of the route, the repulsion function of the no-fly zone and the force function of other UAVs. The reward function was designed based on the targets’ existence probabilities and the areas’ information uncertainty values. Then the no-fly zone was designed based on the artificial potential field method. However, due to each UAV can fly in different height, that is, collision would not happen, so the force function of other UAVs didn’t need concerned. In the end, a simulation experiment with some static targets and a no-fly zone was carried out, in which, a greed method was put forward to be a comparison to MPC. The results showed that the methodology proposed can ensure that the UAVs detected the targets safely and covered as more area as possible.

Abstract: This paper covers exploratory efforts that attempt to address limitations and restrictions in the operating envelope of UAVs, and proposes a conceptual solution to the problem. UAVs, like aircraft, can be categorized into two main types: fixed wing and rotary wing. A fixed wing UAV flies using wings that generate lift caused by the vehicle’s forward airspeed and the shape of the wings. The greatest advantage of fixed wing UAVs obtained from utilizing aerodynamic lift is its long range and high endurance performance. However, this primary advantage comes from the fact that most fixed wing UAVs have wings that are of a high aspect ratio, which becomes a liability in confined operating conditions. An autonomous aerial hard docking system is proposed as a system that manages to enable different UAV platforms to have operational envelopes which far exceed the operational envelopes of the constituent UAV platforms. The paper outlines necessary subsystems that need to exist for autonomous aerial hard docking capability. It presents practical requirements of the various constituent subsystems, namely the guidance and navigation subsystem, the grasping subsystem and the damping subsystem. For each of the subsystems, the challenges which have to be overcome to ensure the effectiveness of the complete system are examined. It further elaborates the testing, investigation and development steps that need to be implemented to realize this capability. It ends by elaborating on the work already underway and future development plans. Note that this paper presents a conceptual logical and architectural solution, and as such detailed analysis findings are inappropriate and premature.

Abstract: Unmanned Aerial Vehicle (UAV) has been used in military application even during the conflicts in World War II. The utilization of UAV was further expanded during the Vietnam War and the role of “eye in the sky” has seen UAV became the ultimate ISTAR (Intelligence, Surveillance, Target Acquisition and Reconnaissance) tool for almost all conflicts. The evolution of UAV in various sizes and features will see UAV saturating the battlefield theater’s cloud in the future. This paper is to present the concept of operations of UAV in the military, segmented by units in battle to enable researchers to concentrate their research on types of UAV to suit the needs of the Malaysian Army. Using effective firepower range of all Malaysian Army arsenals and the commonality in terms of tasking, this study is able to establish the classes in terms of range needed for UAV in the Malaysian Army. From the observation, it is clear that the majority of the intended UAV will be operating in the less than 3 km combat radius.