Cargando…
Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters
This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) al...
Autores principales: | , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Molecular Diversity Preservation International (MDPI)
2011
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231720/ https://www.ncbi.nlm.nih.gov/pubmed/22164029 http://dx.doi.org/10.3390/s110807502 |
_version_ | 1782218272025870336 |
---|---|
author | Jan, Shau Shiun Lin, Yu Hsiang |
author_facet | Jan, Shau Shiun Lin, Yu Hsiang |
author_sort | Jan, Shau Shiun |
collection | PubMed |
description | This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). |
format | Online Article Text |
id | pubmed-3231720 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2011 |
publisher | Molecular Diversity Preservation International (MDPI) |
record_format | MEDLINE/PubMed |
spelling | pubmed-32317202011-12-07 Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters Jan, Shau Shiun Lin, Yu Hsiang Sensors (Basel) Article This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). Molecular Diversity Preservation International (MDPI) 2011-07-28 /pmc/articles/PMC3231720/ /pubmed/22164029 http://dx.doi.org/10.3390/s110807502 Text en © 2011 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/). |
spellingShingle | Article Jan, Shau Shiun Lin, Yu Hsiang Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters |
title | Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters |
title_full | Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters |
title_fullStr | Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters |
title_full_unstemmed | Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters |
title_short | Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters |
title_sort | integrated flight path planning system and flight control system for unmanned helicopters |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231720/ https://www.ncbi.nlm.nih.gov/pubmed/22164029 http://dx.doi.org/10.3390/s110807502 |
work_keys_str_mv | AT janshaushiun integratedflightpathplanningsystemandflightcontrolsystemforunmannedhelicopters AT linyuhsiang integratedflightpathplanningsystemandflightcontrolsystemforunmannedhelicopters |