| Popis: |
This work prepares a smooth playing ground to modeling and simulation of a Collision Avoidance for Cooperative UAVs with Rolling Optimization Algorithm (ROA) Based on Predictive State Space (PSS) technique using Matlab, Simulink and Aerospace toolboxes of MathsWork. The methodological approach adopted is Computer Aided Software Engineering and to have handle collisions and maneuvers in a mathematical way, normal simulation of the trajectory of both the UAV and obstacles is defined by geometric approach. The goal of the work is to develop a mathematical model of a six degree of freedom (6DoF) of unmanned aerial vehicle (UAV) in free space for further modeling and simulation of a collision avoidance for cooperative UAVs with the required specifications. The motion (modeling of mathematical parameters like velocity, position, body rotational rate and Euler angles) of the 6DoF aircraft was determined by coordinate systems which allow the aircraft’s position and orientation in spaceto be kept tracked. The discrete form of the developed model for simulation was achieved using appropriate transfer functions. The development of the mathematical model will enable the development of an artificial NN model predictive controller (MPC) that can handle the nonlinearities associated with the UAV based on PSS technique. |
