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Trajectory Optimization of Micromechanical Flying Insect

Firouzbakht, Shahriar | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42683 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Banazadeh, Afshin
  7. Abstract:
  8. In this work, A new hybrid approach is presented to optimize a trajectory of Micromechanical Flying Insect in an obstacle reach environment. Here, a singleobjective Evolutionary Algorithm is utilize for finding solutions corresponding to multiple conflicting goals, which include minimizing the length of the path while maximizing safety margin by avoiding hard and non-moving obstacles. On the other hand, dynamic constraints of Micromechanical Insect such as maximum and minimum attitude angles and speed should be taken into account. In order to reduce the computational cost, a novel hybrid two-layer procedure is suggested for trajectory optimization. In the first layer, the algorithm generates a smooth path using B-Spline curves. The control points of the B-Spline curve are the decision variables in the genetic algorithm. In the second layer the vehicle dynamics will be taken into account by assuming rigid body and neglecting mass and moment of inertia of the wing. The algorithm tries to navigate flapping wing on the pre-planned path from the first layer. In this layer desired controls are the decision variables in the genetic algorithm. When the dynamic constraints of the vehicle are not satisfied the algorithm returns to the first layer and re-plans the path. Otherwise, the optima trajectory is found in the first trial
  9. Keywords:
  10. Dynamic Modeling ; Trajectory Optimization ; B-Spline Curve ; Path Planning ; Flying Insect

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