碩士 / 國立成功大學 / 航空太空工程學系碩博士班 / 97 / In recent years, the unmanned helicopter plays more important role in different countries; it is used in many aspects of military and civil applications broadly. This thesis focuses on the design of an integrated system for navigation and guidance of an unmanned helicopter. The integrated system is constructed of two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The A-Star (A*) algorithm is utilized to develop a FPPS, and the platform could compute a short-least and adaptive flight path for different flight conditions. The FPPS could add a forbidden zone to inhibit the unmanned helicopter from flying into a dangerous area. The Multi-Resolution Scheme is used for reducing the computation time. In addition, the Path Smoothing Methods are applied to improve the flight path quality.
Meanwhile, the FCS is composed of the Fuzzy Inference Systems (FISs) which is based on the fuzzy logic. The controller could operate the unmanned helicopter without the dynamic model, but the expert knowledge and experience are necessary for constructing a FIS. Therefore, the integrated system of the FPPS and the FCS is developed to navigate and guide the unmanned helicopter to the mission destination. Among these, the integrated system is implemented by coupling the flight simulation software – X-Plane and the computing software – MATLAB to perform the simulation by a 3-D animation in real time. Finally, the integrated system is demonstrated to control the unmanned helicopter in various terrains of Digital Elevation Model (DEM).
| Identifer | oai:union.ndltd.org:TW/097NCKU5295012 |
| Date | January 2009 |
| Creators | Yu-Hsiang Lin, 林鈺翔 |
| Contributors | Shau-Shiun Jan, 詹劭勳 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 86 |
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