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系統識別號 U0026-0812200914085316
論文名稱(中文) 利用模糊邏輯控制於無人飛行載具自主導航編隊飛行模擬研究
論文名稱(英文) Using Fuzzy Logic Control in Simulation of Autonomous Navigation and Formation Flight of Unmanned Aerial Vehicles
校院名稱 成功大學
系所名稱(中) 航空太空工程學系專班
系所名稱(英) Department of Aeronautics & Astronautics (on the job class)
學年度 96
學期 2
出版年 97
研究生(中文) 曾偉
研究生(英文) Wei Tseng
電子信箱 p4794105@mail.ncku.edu.tw
學號 P4794105
學位類別 碩士
語文別 英文
論文頁數 76頁
口試委員 指導教授-蕭飛賓
口試委員-李延年
口試委員-賴維祥
中文關鍵字 編隊飛行  無人飛行載具  模糊邏輯控制 
英文關鍵字 unmanned aerial vehicles  fuzzy logic control  formation flight 
學科別分類
中文摘要 在本論文中,我們利用模糊邏輯控制受控的飛行載具完成自主飛行,並且發展出一套導航點位移演算法使無人飛行載具完成設計的飛行隊形,其中受控無人載具需遵守依時序改變的導航點飛行,並由設限的飛行格式及油門調校控制來確保編隊飛行的完整性。即時飛行模擬平台被應用於實驗中,該硬體由兩部個人電腦組成,一端為控制端,另一端為模擬受控端,即時飛行模擬軟體則使用X-PLANE飛機飛行軟體,相關程式指令主要使用視窗環境開發的C及C++程式語言完成,所有演算法可經由即時模擬平台測試,並成功的由無人飛行載具的自主及多機同時飛行論證編隊飛行控制的可行性和強健性。
英文摘要 In this thesis, the fuzzy logic control is used to accomplish the autonomous flight with a chosen vehicle by simulation, and develop the algorithm of shifting waypoints to constrain the UAVs always fly in a designed flight formation. The controlled UAVs flight follows the updating waypoints in sequence. Besides, the limited form and the throttle con-troller are employed to implement the formation flight completely. The architecture of the real-time simulation platform is applied in experiments, where the hardware is composed of two personal computers; one is used the commander and the other one is for simulation plant. While, the real-time simulation program uses the X-Plane aircraft flight software. The command program software primarily uses C and C++ languages with window develop environment. All the algorithms are tested by the real-time simulation platform that can successfully demonstrate the feasibility and robustness of the formation flight control for unmanned aerial vehicle’s autonomous flight and multiple-vehicle flight.
論文目次 中文摘要 III
ABSTRACT IV
ACKNOWLEDGEMENTS V
CONTENTS VI
LIST OF TABLES IX
LIST OF FIGURES X
LIST OF SYMBOLS XIV
CHAPTER 1 INTRODUCTION 1
1.1 THE UAV AUTONOMOUS FLIGHT IN RMRL LAB OF NCKU 1
1.2 MOTIVATION AND OBJECTIVES 2
1.3 LITERATURE SURVEY 3
CHAPTER 2 NAVIGATION AND FORMATION FLIGHT CONTROL MODEL 9
2.1 THE DEFINITION OF THE COORDINATE FRAME 10
2.2 THE ATTITUDE CONTROL ARCHITECTURE 12
2.3 THE AUTONOMOUS NAVIGATION METHOD 13
2.4 THE FORMATION FLIGHT ALGORITHM 19
CHAPTER 3 FUZZY LOGIC CONTROL SYSTEM 25
3.1 FUNDAMENTAL CONCEPT OF FUZZY CONTROL THEORY 25
3.2 THE DESIGN METHOD OF FUZZY CONTROLLER 26
3.2.1 The Definition of Input and Output (I/O) Variables 26
3.2.2 The Decision of The Fuzzification Tactic 27
3.2.3 The Definition of linguistic Variable’s Data Base 28
3.2.4 The Design of Control Rule Base 33
3.2.5 The Design of Fuzzy Inference Engine 36
3.2.6 The Choice of Defuzzification Method 37
CHAPTER 4 THE SIMULATION ARCHITECTURE OVERVIEW 39
4.1 X-PLANE SOFTWARE SIMULATION ENVIRONMENT 39
4.2 THE REAL-TIME SIMULATION PLANT 42
4.2.1 The Data Transmission and Setting 42
4.2.2 The User Datagram Protocol Message Overview 45
4.2.3 Attitude Control in X-Plane Environment 46
4.2.4 The Real-Time Computation Flow Chart 47
4.3 GRAPHIC USER INTERFACE INTRODUCTION 49
CHAPTER 5 RESULTS AND DISCUSSION 52
5.1 THE SIMULATION OF AUTONOMOUS FLIGHT 52
5.2 THE SIMULATION OF FORMATION FLIGHT 56
5.2.1 Two UAVs Formation Flight 56
5.2.2 Three UAVs Formation Flight 65
CHAPTER 6 CONCLUSION 71
6.1 CONCLUDING REMARK 71
6.2 FUTURE PROSPECTIVE 72
REFERENCES 74
VITA 76
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[2] Chan, W.Y., ”The Study of Flight Path Planning for Multiple Target Visitations,” PHD thesis, Institute of Aeronautics and Astronautics, National Cheng Kung University, Taiwan, June 2007.
[3] Wu, C.H., “Using Fuzzy Logic Control in Simulation of Autonomous Navigation and Formation Flight of Unmanned Aerial Vehicles,” Master thesis, Institute of Aeronau-tics and Astronautics, National Cheng Kung University, Taiwan, June 2006.
[4] Richard, L., “Formation Flight Autopilot Design for the GAF Jindivik Mk 4A UAV,” MSc thesis, College of Aeronautics, Cranfield University, September 2004.
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[8] Teo, R. and Tomlin, C.J., ”Flight Demonstration of Provably Safe Closely Spaced Parallel Approaches,” AIAA Conference on Guidance Navigation and Control, AIAA Paper 2005-6197.
[9] Hattenberger, G., Alami, R. and Lacroix, S., “Planning and control for Unmanned Air Vehicle formation flight” Proceedings of the 2006 IEEE/RSJ International Con-ference on Intelligent Robots and Systems October 9 - 15, 2006, Beijing, China.
[10] Li, Y., Sundararajan, N. and Saratchandran, P., “Neuro-Controller Design for Non-linear Fighter Aircraft Maneuver using Fully Tuned RBF Networks”, Automatic, Vol. 37, 2001, pp. 1293-1301.
[11] Schumacher, C. and Singh, S.N., “Nonlinear Control of Multiple UAVs in Close-coupled Formation Flight”, Proceedings of the AIAA Guidance, Navigation, and Control Conference, Denver, CO, 2000 , pp. 14-17.
[12] White, B.A., Blumel, A.L. and Hughes, E.J., “ A Robust Fuzzy Autopilot Design Using Multi-Criteria Optimization, ”International Journal of Fuzzy Systems, Vol. 2, no.2, 2000, pp.129-138.
[13] Wu, H.Y., Zhou, Z.Y. and Sun, D., “Autonomous Hovering Control and Test for Micro Air Vehicle”, Proceedings of the International Conference on Robotics and Automation, Taiwan, 2003, pp.528-533.
[14] Calise, A.J. and Rysdyk, R.T., “Nonlinear Adaptive Flight Control using Neural Networks”, IEEE Control Systems Magazine, vol. 18, no.6, 1998, pp. 14-25.
[15] Doitsidis, L., Valavanis, K.P., Tsourveloudis, N.C. and Kontitsis, M., “A Framework for Fuzzy Logic Based UAV Navigation and Control”, Proceedings of the 2004 IEEE International Conference on Robotics and Automation New Orleans, New Orleans, USA, 2004, pp.4041-4046.
[16] Wang, Z. and Gu, D., “Fuzzy Control of Distributed Flocking System,” Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007), Harbin, China, August 5-8, 2007.
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