Loading...

Real-Time Hybrid Motion Planning For Autonomous Uavs in Dynamic Environments

Mashayekh, Ehsan | 2013

1300 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45311 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria
  7. Abstract:
  8. This study is about real-time hybrid motion planning for autonomous UAVs in dynamic environments. The algorithm is based on system dynamic quantization to trim trajectories and maneuvers, constructing a library of primitives which guarantee the controllability of the system. Random algorithms introduced in literature of motion planning have an offline phase, reducing the computational complexity of online phase. By using dynamic quantization, we have achieved a new totally online algorithm, increasing the probability of finding a solution. Dynamic programming is the core of this algorithm, instead of offline calculations in before random algorithms. In order to decrease the exponential growth of calculations of dynamic program, quantization and limitation of search domain and eliminating undesired solutions have been used. Prposed algorithm has been proven to be complete in a probabilistic sense, that is, the probability of correct termination approaches unity as the number of milestones increases and also asymptotically optimal, solving a dynamic program from the initial state to the final state. Dual-algorithm is also introduced, solving one motion planning problem from initial state and another one from final state, together. The advantage of dual algorithm is helping the system to pass traps located in the middle of free-environment optimal trajectory.
    The algorithm is introduced on a general framework of mechanical systems but simulation results are based on a 3 degree of freedom unmanned autonomous helicopter. Results show that the probability of finding a solution has increased by using proposed algorithm
  9. Keywords:
  10. Randomized Algorithm ; Dynamic Programming ; Hybrid System ; Kinodynamic Motion Planning ; Dual Motion Planning

 Digital Object List

 Bookmark

...see more