Integrated flight path planning system and flight control system for unmanned helicopters

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering
• Artificial Intelligence

Background:

• Unmanned helicopters require sophisticated navigation and guidance for autonomous operation.
• Existing systems often lack adaptability to dynamic flight conditions and terrain complexities.
• Model-free control methods are desirable for simplifying unmanned helicopter operation.

Purpose of the Study:

• To design and implement an integrated navigation and guidance system for unmanned helicopters.
• To enhance flight path planning efficiency and safety using adaptive algorithms and forbidden zones.
• To develop a robust flight control system using fuzzy logic, eliminating the need for dynamic models.

Main Methods:

• Implemented the A-Star (A*) algorithm with a multi-resolution scheme for efficient flight path planning.
• Incorporated path smoothing techniques to improve flight path quality.
• Developed a fuzzy inference system (FIS) based on expert knowledge for model-free flight control.
• Coupled X-Plane flight simulation software with MATLAB for system integration and real-time animation.
• Tested the system in various digital elevation model (DEM) terrains.

Main Results:

• The A-Star algorithm efficiently found shortest flight paths, adaptable to different conditions and incorporating forbidden zones.
• The multi-resolution scheme reduced computation time for flight path planning.
• Path smoothing methods enhanced the quality of the planned flight paths.
• The fuzzy logic-based flight control system enabled model-free operation of the unmanned helicopter.
• Simulations demonstrated successful real-time control and navigation in complex terrains.

Conclusions:

• The integrated navigation and guidance system effectively controls unmanned helicopters in diverse environments.
• The combination of adaptive path planning and fuzzy logic control offers a robust solution for autonomous aerial missions.
• The system's successful real-time simulation validates its potential for practical applications in unmanned helicopter operations.