ROUTE TRACKING AND PAYLOAD TRANSPORTATION PERFORMANCE OF ADAPTIVE FUZZY LOGIC CONTROLLER BASED UNMANNED AERIAL VEHICLE (UAV)
نویسندگان
چکیده
Otonom olarak hareket eden İnsansız Hava Araçlarında (İHA) yük taşıma sistemi sivil ve askeri alanlarda sıklıkla kullanılmaktadır. Coğrafi koşulların elverişsiz olduğu operasyon bölgelerinde belirlenen konumdan alınan faydalı yükün belirli bir rota takip edilerek hedeflenen konuma minimum hata ile bırakılması büyük önem arz etmektedir. Bu tür görevlerin başarıyla gerçekleştirilebilmesi için İHA’nın rotayı etmesi gerekmektedir. çalışmada, alma bırakma kullanılarak bölgedeki farklı renkli iki özdeş dört pervaneli İHA tarafından sırasıyla alınarak üzerinden bırakılabilmesi bulanık PID denetleyicisi tasarlanmaktadır. Faydalı alma, görevi esnasında elde edilen sonuçlar denetleyici performansı kıyaslamalı analiz edilmektedir.
منابع مشابه
designing unmanned aerial vehicle based on neuro-fuzzy systems
در این پایان نامه، کنترل نرو-فازی در پرنده هدایت پذیر از دور (پهپاد) استفاده شده است ابتدا در روش پیشنهادی اول، کنترل کننده نرو-فازی توسط مجموعه اطلاعات یک کنترل کننده pid به صورت off-line آموزش دیده است و در روش دوم یک کنترل کننده نرو-فازی on-line مبتنی بر شناسایی سیستم توسط شبکه عصبی rbf پیشنهاد شده است. سپس کاربرد این کنترل کننده در پهپاد بررسی شده است و مقایسه ای ما بین کنترل کننده های معمو...
Fuzzy Logic Based Integrated Controller for Unmanned Aerial Vehicles
This paper discusses the integration of health monitoring and flight control systems for small Unmanned Aerial Vehicles (UAVs). After briefly reviewing previous fuzzy logic controllers (FLC) of air vehicles, a very low cost integration method is proposed. The proposed fuzzy logic (FL) selects the best gain values for the operation of PD or PID controllers of the autonomous flight system accordi...
متن کاملUnmanned Aerial Vehicle (UAV) Cooperative Mission Planning
Unmanned Aerial Vehicle (UAV) is a kind of new operational platform possessing ability to flight autonomously and perform independently a task,which can not only carry out non-attack tasks,such as military reconnaissance, surveillance and search, but also to carry out tasks to air-to-ground attacking, target bombing and so on. With the rapid development of UAVtechnology, more and more UAV will ...
متن کاملVision Based Tracking for Unmanned Aerial Vehicle
This project aims at a system for an Unmanned Aerial Vehicle (UAV) following moving targets on ground. The UAV has physical constraints on airspeed and maneuverability. The target however can move freely and in any general pattern. We assume minimum knowledge about the target while navigating the aircraft. The system includes visual tracking of the target with a camera mounted on the UAV. The c...
متن کاملMM-UAV: Mobile Manipulating Unmanned Aerial Vehicle
Given significant mobility advantages, UAVs have access to many locations that would be impossible for an unmanned ground vehicle to reach, but UAV research has historically focused on avoiding interactions with the environment. Recent advances in UAV size to payload and manipulator weight to payload ratios suggest the possibility of integration in the near future, opening the door to UAVs that...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mühendislik bilimleri ve tasar?m dergisi
سال: 2021
ISSN: ['1308-6693']
DOI: https://doi.org/10.21923/jesd.733266