Autonomous Navigation for an Unmanned Aerial Vehicle by the Decomposition Coordination Method
| Autor: | Mohamed Mestari, Mostafa Rachik, Hala El Ouarrak, Chaimaa Jihane |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science Computation Stability (learning theory) Complex system Pharmaceutical Science 02 engineering and technology Optimal control Computer Science::Robotics Nonlinear system 020901 industrial engineering & automation Complementary and alternative medicine Control theory Path (graph theory) Convergence (routing) 0202 electrical engineering electronic engineering information engineering Decomposition (computer science) 020201 artificial intelligence & image processing Pharmacology (medical) |
| Zdroj: | Proceeding of the Electrical Engineering Computer Science and Informatics. 4 |
| ISSN: | 2407-439X |
| DOI: | 10.11591/eecsi.v4.1057 |
| Popis: | This paper introduces a new approach for solving the navigation problem of Unmanned Aerial Vehicles (UAV) by studying its rotational and translational dynamics and then solving the nonlinear model by the Decomposition Coordination method. The objective is to reach a destination goal by the mean of an autonomous computed optimal path calculated through optimal control sequence. Solving such complex systems often requires a great amount of computation. However, the approach considered herein is based on the Decomposition Coordination principle, which allows the nonlinearity to be treated at a local level, thus offering a low computing time. The stability of the method is discussed with sufficient conditions for convergence. A numerical application is given in consolidation the theoretical results. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|