A Correction Algorithm for Intersecting Trajectories of Two Flying Robots

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الگوریتمی برای تصحیح مسیرهای متقاطع دو ربات پرنده

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 50249 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Banazade, Afshin
Abstract:
The main interest of this study is designing a correction algorithm for intersecting trajectories of two flying robots. For this purpose, path planning algorithms were studied and Rapidly-exploring random tree (RRT) was chosen as a proper algorithm for flying robots in urban environments which is modified for the problem. It should be considered that this project focuses on path correction therefore initial path could be produced by any suitable algorithm. In addition, new paths were designed with flying robots’ performance equations. The correction was done so the paths differ as little as possible in comparison to the original path. Since there are no flight regulations available for Unmanned Aerial Vehicles (UAVs), design parameters may change with new rules. Also the parameters of the flying robot are considered as inputs. The suggested algorithm is cross-checked with simple and complex sample problems and results are reported
Keywords:
Urban Environment ; Path Planning ; Flying Robot ; Flight Maneuver ; Intersecting Trajectories

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