This article is the University of Toledo: Master's thesis (Author Jiankun Fan), a total of 90.
Unmanned aerial vehicle (UAV) is a not manned aircraft. It's either autonomous flight control computer on board, the pilot or remote control from the ground or another car remote control. In recent years, the use of unmanned aerial vehicles are more prevalent than ever. Areo present example includes a camera, wherein the camera is connected to a high-speed UAV, the air can be acquired through the onboard video camera. It can also be used to detect ground event to perform tasks such as monitoring, which is a common task during the war. Similarly, when the conventional communication infrastructure destroyed, also it is used for relay communication UAV.
Research goal of this paper is obtained from sources such as search and rescue or other civilian wildfire detection and monitoring operations, one of which is that search and rescue, unmanned aerial vehicles target in a given area of personnel geolocation. This task is accomplished with the help of a video camera, the camera provides real-time information to search and rescue personnel. To this end, unmanned aerial vehicles in the shortest time required to scan the entire area. The purpose of this paper is to develop an algorithm that can scan a region of the UAV at the optimal time, it referred to as "coverage control." Problems in the literature. This paper is a special kind of drone, known as the "four-rotor" unmanned aerial vehicles. The overall objective of this paper is achieved by solving two problems. The first issue is the dynamic control model of four-rotor. Article developed and implemented based on proportional-integral-derivative controller (PID) feedback control system in the Simulink MATLAB. PID controller helps you keep track of any given track. The second problem is designed to accomplish a task trajectory. The track design should ensure four-rotor machine can scan an entire area without missing any part, to ensure that the four-rotor machine able to find the missing persons in the region, thereby generating a trajectory should be optimal. This is to get the optimal trajectory parameters of the trajectory the form of certain assumptions used to solve the optimization problem to achieve. Finally, a large number of simulation of the proposed techniques.
An Unmanned Aerial Vehicle (UAV) is anaircraft without a human pilot on board. Its flight is controlled eitherautonomously by computers onboard the vehicle, or remotely by a pilot on theground, or by another vehicle. In recent years, UAVs have been used morecommonly than prior years. The example includes areo-camera where a high speedcamera was attached to a UAV which can be used as an airborne camera to obtainaerial video. It also could be used for detecting events on ground for taskssuch as surveillance and monitoring which is a common task during wars. SimilarlyUAVs can be used for relaying communication signal during scenarios whenregular communication infrastructure is destroyed. The objective of this thesisis motivated from such civilian operations such as search and rescue orwildfire detection and monitoring. One scenario is that of search and rescuewhere UAV’s objective is to geo-locate a person in a given area. The task iscarried out with the help of a camera whose live feed is provided to search andrescue personnel. For this objective, the UAV needs to carry out scanning ofthe entire area in the shortest time. The aim of this thesis to developalgorithms to enable a UAV to scan an area in optimal time, a problem referredto as “Coverage Control” in literature. The thesis focuses on a special kind ofUAVs called “quadrotor” that is propelled with the help of four rotors. Theoverall objective of this thesis is achieved via solving two problems. Thefirst problem is to develop a dynamic control model of quadrtor. In thisthesis, a proportionalintegral-derivative controller (PID) based feedbackcontrol system is developed and implemented on MATLAB’s Simulink. The PIDcontroller helps track any given trajectory. The second problem is to design atrajectory that will fulfill the mission. The planed trajectory should makesure the quadrotor will scan the whole area without missing any part to makesure that the quadrotor will find the lost person in the area. The generatedtrajectory should also be optimal. This is achieved via making some assumptionson the form of the trajectory and solving the optimization problem to obtainoptimal parameters of the trajectory. The proposed techniques are validatedwith the help of numerous simulations.
- introduction
- Literature Review
- Problem Description
- Four-rotor UAV dynamic model and control
- Trajectory Design and Optimization
- Conclusions and Future Work Prospects
Appendix A dynamic model parameters
Dynamic Simulation System Appendix B
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