Design and modelling of an autonomous robotic airship with soft computing control

UAV (Unmanned Aerial Vehicle) can be defined as an autonomously / remotely piloted air vehicle. UAV development has seen a constant rise due to the developement of highly reliable sensors and the Global Positioning System (GPS). UAVs control system remains dominated by model based control system th...

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Main Author:	Wong, Wei Kitt
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TJ Mechanical engineering and machinery
Online Access:	https://eprints.ums.edu.my/id/eprint/11581/1/mt0000000639.pdf
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spelling	my-ums-ep.115812017-11-07T07:01:08Z Design and modelling of an autonomous robotic airship with soft computing control 2012 Wong, Wei Kitt TJ Mechanical engineering and machinery UAV (Unmanned Aerial Vehicle) can be defined as an autonomously / remotely piloted air vehicle. UAV development has seen a constant rise due to the developement of highly reliable sensors and the Global Positioning System (GPS). UAVs control system remains dominated by model based control system that can be unreliable in the absence of highly precise instruments and non linearities. In recent years, with the development of advance soft computing control methods, countless research work have applied these controls system In their autonomous systems. The objective of this thesis is to apply the concept of Artificial Inteligence in UAV developement To meet this objective, a prototype Airship is designed with on board sensors and GPS receivers. In this dissertation, fuzzy logic was proposed for the autonomous airship.The navigation technique proposed is the waypoint following algorithm where a path is separated Into a series of waypoints. The fuzzy controller considers the differrence between the calculated bearing from the current position and the target position. It then gives an apropriate propulsion value to the actuators. The actuators use the pulse width modulation as the signals. A servo controller was developed to control the respective actuators, the motor speed controllers and the vectoring thrust servo. The PWM based actuator controller was constructed by varying the delay between the "on" and "off" time of pin connected to the actuators. An on-board microcontroller as used to stream the GPS and other telemetry data to the main processor wirelessly. The GPS and telemetry data were processed using string recognition methods.The processed and filtered telemetry and GPS data were fed to the fuzzy logic system. The proposed control system was tested on a simulation level before flight tested on a prototype airship. The control system were tested on simulation which were developed from simulink. The result shows a feasible means of UAV control. Along with the prototype airship, a path planner was also proposed for the UAV for the purpose of obstacle avoidance and path optimization using genetic algorithm to minimize on the distance travelled and to generate the shortest path to cover the specified waypoints. The concept path planner was demonstrated on a cartesian grid. 2012 Thesis https://eprints.ums.edu.my/id/eprint/11581/ https://eprints.ums.edu.my/id/eprint/11581/1/mt0000000639.pdf text en public masters Universiti Malaysia Sabah School of Engineering and Information Technology
institution	Universiti Malaysia Sabah
collection	UMS Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Wong, Wei Kitt Design and modelling of an autonomous robotic airship with soft computing control
description	UAV (Unmanned Aerial Vehicle) can be defined as an autonomously / remotely piloted air vehicle. UAV development has seen a constant rise due to the developement of highly reliable sensors and the Global Positioning System (GPS). UAVs control system remains dominated by model based control system that can be unreliable in the absence of highly precise instruments and non linearities. In recent years, with the development of advance soft computing control methods, countless research work have applied these controls system In their autonomous systems. The objective of this thesis is to apply the concept of Artificial Inteligence in UAV developement To meet this objective, a prototype Airship is designed with on board sensors and GPS receivers. In this dissertation, fuzzy logic was proposed for the autonomous airship.The navigation technique proposed is the waypoint following algorithm where a path is separated Into a series of waypoints. The fuzzy controller considers the differrence between the calculated bearing from the current position and the target position. It then gives an apropriate propulsion value to the actuators. The actuators use the pulse width modulation as the signals. A servo controller was developed to control the respective actuators, the motor speed controllers and the vectoring thrust servo. The PWM based actuator controller was constructed by varying the delay between the "on" and "off" time of pin connected to the actuators. An on-board microcontroller as used to stream the GPS and other telemetry data to the main processor wirelessly. The GPS and telemetry data were processed using string recognition methods.The processed and filtered telemetry and GPS data were fed to the fuzzy logic system. The proposed control system was tested on a simulation level before flight tested on a prototype airship. The control system were tested on simulation which were developed from simulink. The result shows a feasible means of UAV control. Along with the prototype airship, a path planner was also proposed for the UAV for the purpose of obstacle avoidance and path optimization using genetic algorithm to minimize on the distance travelled and to generate the shortest path to cover the specified waypoints. The concept path planner was demonstrated on a cartesian grid.
format	Thesis
qualification_level	Master's degree
author	Wong, Wei Kitt
author_facet	Wong, Wei Kitt
author_sort	Wong, Wei Kitt
title	Design and modelling of an autonomous robotic airship with soft computing control
title_short	Design and modelling of an autonomous robotic airship with soft computing control
title_full	Design and modelling of an autonomous robotic airship with soft computing control
title_fullStr	Design and modelling of an autonomous robotic airship with soft computing control
title_full_unstemmed	Design and modelling of an autonomous robotic airship with soft computing control
title_sort	design and modelling of an autonomous robotic airship with soft computing control
granting_institution	Universiti Malaysia Sabah
granting_department	School of Engineering and Information Technology
publishDate	2012
url	https://eprints.ums.edu.my/id/eprint/11581/1/mt0000000639.pdf
_version_	1747836399623602176

Design and modelling of an autonomous robotic airship with soft computing control

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