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Minimum Distance and Minimum Time Optimal Path Planning With Bioinspired Machine Learning Algorithms for Faulty Unmanned Air Vehicles

Tutsoy, Onder; Asadi, Davood; Ahmadi, Karim; Nabavi-Chashmi, Seyed Yaser; Iqbal, Jamshed

Authors

Onder Tutsoy

Davood Asadi

Karim Ahmadi

Seyed Yaser Nabavi-Chashmi



Abstract

Unmanned air vehicles operate in highly dynamic and unknown environments where they can encounter unexpected and unseen failures. In the presence of emergencies, autonomous unmanned air vehicles should be able to land at a minimum distance or minimum time. Impaired unmanned air vehicles define actuator failures and this impairment changes their unstable and uncertain dynamics; henceforth, path planning algorithms must be adaptive and model-free. In addition, path planning optimization problems must consider the unavoidable actuator saturations, kinematic and dynamic constraints for successful real-time applications. Therefore, this paper develops 3D path planning algorithms for quadrotors with parametric uncertainties and various constraints. In this respect, this paper constructs a multi-dimensional particle swarm optimization and a multi-dimensional genetic algorithm to plan paths for translational, rotational, and Euler angles and generates the corresponding control signals. The algorithms are assessed and compared both in the simulation and experimental environments. Results show that the multi-dimensional genetic algorithm produces shorter minimum distance and minimum time paths under the constraints. The real-time experiments prove that the quadrotor exactly follows the produced path utilizing the available maximum rotor speeds.

Citation

Tutsoy, O., Asadi, D., Ahmadi, K., Nabavi-Chashmi, S. Y., & Iqbal, J. (2024). Minimum Distance and Minimum Time Optimal Path Planning With Bioinspired Machine Learning Algorithms for Faulty Unmanned Air Vehicles. IEEE Transactions on Intelligent Transportation Systems, https://doi.org/10.1109/TITS.2024.3367769

Journal Article Type Article
Acceptance Date Feb 9, 2024
Online Publication Date Mar 18, 2024
Publication Date 2024
Deposit Date Feb 10, 2024
Publicly Available Date Mar 19, 2024
Journal IEEE Transactions on Intelligent Transportation Systems
Print ISSN 1524-9050
Electronic ISSN 1558-0016
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
DOI https://doi.org/10.1109/TITS.2024.3367769
Public URL https://hull-repository.worktribe.com/output/4539934

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© 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.




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