3D DYNAMIC UAV PATH PLANNING ALGORITHM FOR INTERCEPTING OF MOVING TARGET

• Main Authors: , Hendri Himawan T, , Dr. Teguh Bharata Adji
• Format: Theses and Dissertations NonPeerReviewed
• Published: [Yogyakarta] : Universitas Gadjah Mada 2012
• Subjects: ETD
• Online Access: https://repository.ugm.ac.id/99994/; http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=56886
• Institution: Universitas Gadjah Mada

Nowadays, UAV takes important role for both in military operation and civilian. The usage of UAV in military operation is for target reconnaissance and surveillance. Surveillance of natural disasters, search and rescue, power lines inspection and traffic monitoring are examples of civilian UAV applications. Besides mechanical problems, two major problems encountered by UAV are control system and path planning system. Path planning system is one of the important things for establishing autonomous UAV. In order to intercepting a target, utilization of the system guides UAV through waypoint to reach the target. In this research, a new approach of dynamic path planning system is proposed. This method which is called L+Dumo algorithm integrates two algorithms i.e. linear algorithm and modified Dubins algorithm. Linear algorithm is used to find optimal path in linear slope. Modified Dubins algorithm is employed to avoid an obstacle during the UAV�s flight. The method has been tested using a simulation in 3D Euclidean space. The simulation scenario starts with a UAV leaving from the base and flies in a certain altitude. Afterwards, the UAV has to intercepting a moving target with a specific path planning. Before reaching the target, the UAV must avoid an obstacle in air space. The UAV has to meet safety constraint when avoiding the obstacle. The objective of the mission is the final distance between the UAV and the target. The final distance depends on the mission criteria such as target locking or target surveillance. The starting positions for both the UAV and the target have been set up differently for each scenario. The test result shows that the method satisfies safety constraint when avoiding the obstacle. The method also solves the dynamic path planning problem for intercepting a target in 3D space with accuracy of 81.0876%.