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Development of an Optimal Path Planning Algorithm for Aerial Robots Based on GPOPS Program

Pakro, Farhad | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47581 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Banazadeh, Afshin
  7. Abstract:
  8. In this thesis the problem of path planning for aerial robots,specifically the UAVs, is studied. Some software packs aiming to perform optimal path planning are already published worldwide. In this thesis, these software are investigated and UAV path planning is done by them. In UAV path planning using these software, due to the high number of equations, number of constraints in solution increases and even in a simple problem, the process of solving becomes difficult for software. Among introduced software packs, “GPOPS”, which uses pseudospectral methods, is chosen as the best. Avoiding obstacles in different problems is checked. Obstacle avoidance and waypoint tracking at the same time, which is a new application for GPOPS, is performed in this thesis. Additionally, GPOPS has not the necessary performance, dealing with a new obstacle in the old path and when there is a need for correction in the trajectory, it does not plan the proper one. Using interval halving numerical method iteratively and running that along with GPOPS algorithmhaseliminated the software’s problem in giving an accurate optimal path. Minimum time and minimum deviation from a reference path are consideredsimultaneously, using interval halving and interpolation between breakpoints of an interval
  9. Keywords:
  10. Optimal Mission Design ; Aerial Robotics ; Obstacle Avoidance ; Pseudospectral Methods ; Waypoint Tracking ; Minimum Time Path ; Minimum Deviation Path

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