Context: Unmanned Aerial Vehicles are being widely being used for various scientific and non-scientific purposes. This increases the need for effective and efficient path planning of Unmanned Aerial Vehicles.Two of the most commonly used methods are the A-star algorithm and Mixed Integer Linear Programming.Objectives: Conduct a simulation experiment to determine the performance of A-star algorithm and Mixed Integer Linear Programming for path planning of Unmanned Aerial Vehicle in a simulated environment.Further, evaluate A-star algorithm and Mixed Integer LinearProgramming based computational time and computational space to find out the efficiency. Finally, perform a comparative analysis of A star algorithm and Mixed Integer Linear Programming and analyse the results.Methods: To achieve the objectives, both the methods are studied extensively, and test scenarios were generated for simulation of Objectives: Conduct a simulation experiment to determine the performance of A-star algorithm and Mixed Integer Linear Programming for path planning of Unmanned Aerial Vehicle in a simulated environment.Further, evaluate A-star algorithm and Mixed Integer LinearProgramming based computational time and computational space to find out the efficiency. Finally, perform a comparative analysis of A star algorithm and Mixed Integer Linear Programming and analyse the results.Methods: To achieve the objectives, both the methods are studied extensively, and test scenarios were generated for simulation of Methods: To achieve the objectives, both the methods are studied extensively, and test scenarios were generated for simulation of these methods. These methods are then implemented on these test scenarios and the computational times for both the scenarios were observed.A hypothesis is proposed to analyse the results. A performance evaluation of these methods is done and they are compared for a better performance in the generated environment. Results: It is observed that the efficiency of A-star algorithm andMILP algorithm when no obstacles are considered is 3.005 and 12.03functions per second and when obstacles are encountered is 1.56 and10.59 functions per seconds. The results are statistically tested using hypothesis testing resulting in the inference that there is a significant difference between the computation time of A-star algorithm andMILP. Performance evaluation is done, using these results and the efficiency of algorithms in the generated environment is obtained.Conclusions: The experimental results are analysed, and the Conclusions: The experimental results are analysed, and the efficiencies of A-star algorithm and Mixed Integer Linear Programming for a particular environment is measured. The performance analysis of the algorithm provides us with a clear view as to which algorithm is better when used in a real-time scenario. It is observed that Mixed IntegerLinear Programming is significantly better than A-star algorithm.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:bth-13541 |
| Date | January 2016 |
| Creators | Paleti, Apuroop |
| Publisher | Blekinge Tekniska Högskola, Institutionen för datalogi och datorsystemteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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