Browsing by Subject "Unmanned aerial vehicles (UAV)"

Now showing 1 - 3 of 3

Open Access
A game theoretical modeling and simulation framework for the integration of unmanned aircraft systems in to the national airspace
(AIAA, 2016) Musavi, Negin; Tekelioğlu, K. B.; Yıldız, Yıldıray; Güneş, Kerem; Onural, Deniz
The focus of this paper is to present a game theoretical modeling and simulation frame- work for the integration of Unmanned Aircraft Systems (UAS) into the National Airspace system (NAS). The problem of predicting the outcome of complex scenarios, where UAS and manned air vehicles co-exist, is the research problem of this work. The fundamental gap in the literature in terms of developing models for UAS integration into NAS is that the models of interaction between manned and unmanned vehicles are insufficient. These models are insufficient because a) they assume that human behavior is known a priori and b) they disregard human reaction and decision making process. The contribution of this paper is proposing a realistic modeling and simulation framework that will fill this gap in the literature. The foundations of the proposed modeling method is formed by game theory, which analyzes strategic decision making between intelligent agents, bounded rationality concept, which is based on the fact that humans cannot always make perfect decisions, and reinforcement learning, which is shown to be effective in human behavior in psychology literature. These concepts are used to develop a simulator which can be used to obtain the outcomes of scenarios consisting of UAS, manned vehicles, automation and their interactions. An analysis of the UAS integration is done with a specifically designed scenario for this paper. In the scenario, a UAS equipped with sense and avoid algorithm, moves along a predefined trajectory in a crowded airspace. Then the effect of various system parameters on the safety and performance of the overall system is investigated.
Open Access
İnsansız hava araçları için eşanlı konumlandırma ve haritalama
(IEEE, 2008-04) Kök, Mehmet; Barshan, Billur
Sabit yükseklikte uçtuğu varsayılan insansız Hava Araçları ( İHA) için görü-tabanlı bir Eşanlı Konumlandırma ve Haritalama (EKVH) algoritması sunulmaktadır. Araç üzerindeki kameradan elde edilen görüntülerin öznitelikleri kullanılarak farklı yer işaretleri saptanmaktadır. Yer işaretlerine Genişletilmiş¸ Kalman Süzgeci (GKS) uygulanmış ve EKVH probleminin çözümü için bazı benzetim sonuçları sunulmuştur.
Open Access
Trajectory control of a quadrotor using a control allocation approach
(IEEE, 2017) Zaki, H.; Ünel, M.; Yıldız, Yıldıray
A quadrotor is an underactuated unmanned aerial vehicle with four inputs to control the dynamics. Trajectory control of a quadrotor is a challenging task and usually tackled in a hierarchical framework where desired/reference attitude angles are analytically determined from the desired command signals, i.e. virtual controls, that control the positional dynamics of the quadrotor and the desired yaw angle is set to some constant value. Although this method is relatively straightforward, it may produce large and nonsmooth reference angles which must be saturated and low-pass filtered. In this work, we show that the determination of desired attitude angles from virtual controls can be viewed as a control allocation problem and it can be solved numerically using nonlinear optimization where certain magnitude and rate constraints can be imposed on the desired attitude angles and the yaw angle need not be constant. Simulation results for both analytical and numerical methods have been presented and compared. Results for constrained optimization show that the flight performance is quite satisfactory.