path planning and coordinated guidance of multiple unmanned aerial vehicles a thesis submitted

143 Pages·2013·19.7 MB·English

PATH PLANNING AND COORDINATED GUIDANCE OF MULTIPLE
UNMANNED AERIAL VEHICLES
A THESIS SUBMITTED TO
THE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES
OF
MIDDLE EAST TECHNICAL UNIVERSITY
BY
HALI˙T ERGEZER
IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
FOR
THE DEGREE OF DOCTOR OF PHILOSOPHY
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
SEPTEMBER 2013

Approval of the thesis:
PATH PLANNING AND COORDINATED GUIDANCE OF MULTIPLE
UNMANNED AERIAL VEHICLES
submitted by HALI_T ERGEZER in partial fulfillment of the requirements for the
degreeofDoctor of Philosophy in Electrical and Electronics Engineering De-
partment, Middle East Technical University by,
Prof. Dr. Canan O¨zgen
Dean, Graduate School of Natural and Applied Sciences
Prof. Dr. G¨onu¨l Turhan Sayan
Head of Department, Electrical and Electronics Engineering
Prof. Dr. M. Kemal Leblebicio˘glu
Supervisor, Electrical and Electronics Engineering, METU
Examining Committee Members:
Prof. Dr. Mu¨beccel Demirekler
Electrical and Electronics Engineering, METU
Prof. Dr. M. Kemal Leblebicio˘glu
Electrical and Electronics Engineering, METU
Prof. Dr. O¨mer Morgu¨l
Electrical and Electronics Engineering, Bilkent University
Prof. Dr. Kemal O¨zg¨oren
Mechanical Engineering, METU
Do¸c. Dr. Umut Orguner
Electrical and Electronics Engineering, METU
Date:
I hereby declare that all information in this document has been obtained
and presented in accordance with academic rules and ethical conduct. I
also declare that, as required by these rules and conduct, I have fully cited
and referenced all material and results that are not original to this work.
Name, Last Name: HALI˙T ERGEZER
Signature :
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ABSTRACT
PATH PLANNING AND COORDINATED GUIDANCE OF MULTIPLE
UNMANNED AERIAL VEHICLES
Ergezer, Halit
Ph.D., Department of Electrical and Electronics Engineering
Supervisor : Prof. Dr. M. Kemal Leblebicio˘glu
September 2013, 123 pages
Inthisthesis, bothoff-lineandonlinecoordinatedpathplanningforUnmannedAerial
Vehicles(UAVs)arestudied. Theseproblemshaveemergedduetotheincreasingneeds
for UAVs in both military and civil applications. To accomplish a certain objective,
both the path planning for a single UAV and for multiple UAVs have been examined.
Although there are previous studies in this field, we focus on maximizing the collected
information instead of minimizing the total mission time.
Studiescarriedoutinthisthesiscanbedividedintotwomainheadingsasofflineroute
planning and online route planning. Under offline path planning, path planning prob-
lem is studied for a single UAV, firstly. Along the designed path, the objectives are to
maximize the collected information from Desired Regions (DR) while avoiding flying
overForbiddenRegions (FR) andreachingthedestination. Soas to realize this objec-
tive, a novel off-line path planning algorithm is proposed. This algorithm, unlike the
methods proposed in the literature to date, covers operators that mimic the behavior
of the human path planner. The obtained results provide the need for identification
of problem-specific operators for further studies in task planning. In addition, the
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algorithm produces nearly global optimum solution through the intermediate steps,
providing a path-search-space reduction. Secondly, the proposed algorithm has been
developedforoff-linepathplanningofmultipleUAVsandpathplanningin3Denviron-
ment. Development for methods of reducing the search space are at the basis of these
studies as with the proposed algorithm for a single UAV. The problem of path plan-
ning for multiple UAVs is modeled as multiple Traveling Salesman Problem (mTSP),
then the problem is considered as multiple single-UAV-Path-Planning-Problem. The
other problem studied is the online path planning for multiple UAVs. In this prob-
lem, how to plan the paths of each UAV to maximize the instantaneous collected
amount information from desired regions is examined. Maximization of information
is accomplisehed by the coordinated guidance of multiple UAVs. The coordination is
performed by assignment of regions to UAVs, instantaneously. Assignment process is
realized by the designation of centralized decision maker.
Keywords: Path planning, Unmanned Aerial Vehicle (UAV), Coordinated guidance
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(cid:127)
OZ
ROTA PLANLAMA VE C¸OKLU I˙NSANSIZ HAVA ARAC¸LARININ
KOORDI˙NELI˙ GU¨DU¨MU¨
Ergezer, Halit
Doktora, Elektrik Elektronik Mu¨hendisli˘gi B¨olu¨mu¨
Tez Y¨oneticisi : Prof. Dr. M. Kemal Leblebicio˘glu
Eylu¨l 2013, 123 sayfa
Bu tezde I˙nsansız Hava Ara¸cları (I˙HA) i¸cin ¸cevrim i¸ci ve ¸cevrim dı¸sı koordineli rota
planlaması problemleri incelenmi¸stir. Bu problemler I˙HA’lara duyulan ihtiyacın hem
askeri hem de sivil uygulamalarda artmasıyla ortaya ¸cıkmı¸stır. Belli bir amacı yerine
getirmeki¸cin,hembirtekI˙HA’nınrotaplanlamasınınhemdebirdenfazlaI˙HA’nınbir
arada kullanılması ile ilgili konular incelenmi¸stir. Rota planlamadaki ama¸c, bugu¨ne
kadar yapılan bir ¸cok ¸calı¸smadan farklı olarak, sabit g¨orev zamanında ilgilenilen
b¨olgeden en ¸cok bilginin toplanması olarak belirlenmi¸stir.
Tez kapsamında ger¸cekle¸stirilen ¸calı¸smaları ¸cevrim dı¸sı rota planlama ve ¸cevrim i¸ci
rota planlama ¸seklinde iki ana ba¸slı˘ga ayırabiliriz. C¸evrim dı¸sı rota planlama altında,
ilkolaraktekI˙HAi¸cinrotaplanlamaproblemiincelenmi¸stir. Planlananrotanınamacı,
I˙HA’nın g¨orev b¨olgesi i¸cerisinde belirlenen b¨olgelerden, en ¸cok bilgiyi toplarken, gir-
ilmesiyasaklananb¨olgelerdendege¸cmeyecek¸sekildebelirlenensonnoktayaula¸smasıdır.
Bu amacı ger¸cekle¸stirecek ¸sekilde, yeni bir ¸cevrim dı¸sı algoritma ¨onerilmi¸stir. Bu
algoritma bugu¨ne kadar literatu¨rde ¨onerilen y¨ontemlerden farklı olarak, insan rota
planlayıcısının davranı¸slarını taklit eden operat¨orleri kapsamaktadır. Elde edilen
sonu¸clarla g¨orev planlama konularında yapılacak ¸calı¸smalar i¸cin probleme ¨ozel op-
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erat¨orler tanımlanması gere˘gi ortaya konulmu¸stur. Ayrıca algoritma rota-arama-
uzayınınindirgenmesinisa˘glayacakaraadımlarısayesindeevrenseleniyi¸c¨ozu¨meyakın
¸c¨ozu¨mler u¨retmektedir. I˙kinci olarak, ¨onerilen bu algoritma, u¨¸c boyutlu ortamda ve
birden fazla I˙HA i¸cin ¸cevrim dı¸sı yol planlaması problemlerine uygun olacak ¸sekilde
geli¸stirilmi¸stir. Bu¸calı¸smalarıntemelindedetekI˙HAi¸cin¨onerilenalgoritmadaoldu˘gu
gibi arama uzayının indirgenmesi y¨ontemlerinin geli¸stirilmesi vardır. C¸oklu I˙HA rota
planlamasında problem ¸coklu gezgin satıcı problemi ¸seklinde modellenerek, birden fa-
zla tek I˙HA i¸cin rota planlama problemine d¨onu¨¸stu¨ru¨lmu¨¸stu¨r.
I˙ncelenen di˘ger konu birden fazla I˙HA i¸cin ¸cevrim-i¸ci rota planlaması problemidir. Bu
problemde belirlenen b¨olgelerden toplancak anlık bilgi miktarının en¸coklanması i¸cin
I˙HA’ların rotalarının nasıl planlanaca˘gı incelenmi¸stir. En¸coklama i¸slemi I˙HA’ların
koordineli olarak gu¨du¨mlenmesi ile ger¸cekle¸stirilmi¸stir. Koordinasyon, bilgi toplama
g¨orevininger¸cekle¸stirilmesigerekenb¨olgelerinanlıkolarakI˙HA’laraatanması¸seklinde
yapılmaktadır. Bu atama i¸slemi merkezi karar verici tasarlanarak ger¸cekle¸stirilmi¸stir.
Anahtar Kelimeler: Rota planlama, I˙nsansız Hava Aracı, Koordineli gu¨du¨m
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This dissertation is dedicated to my family
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ACKNOWLEDGMENTS
I would like to sincerely thank my supervisor, Prof. Dr. Kemal Leblebicio˘glu for
his guidance and encouragement. I deeply appreciate him for his insightful academic
advicesandcontinuoussupporthegavemeduringmystudy. Ialsothankmycommit-
tee members, Prof. Dr. Mu¨beccel Demirekler and Prof. Dr. O¨mer Morgu¨l for their
input and oversight, and Prof. Dr. Kemal O¨zg¨oren and Do¸c. Dr. Umut Orguner for
participating in the defense.
This research work has been supported in part by TUBI˙TAK (project no. 110E192).
Their financial support is greatly appreciated.
I would like to express my sincere gratitude with all my heart to my parents and my
brothers Hamza Ergezer, and O¨mer Ergezer. Their endless support, encouragement,
and everlasting love have strengthened me to complete this endeavour.
I am also thankful to my parents-in-law, and brother-in-law who have always wished
for my success.
My colleagues at MI˙KES Microwave Electronics Systems also deserve many thanks.
Last but not least, I would like to give thanks to my wife, O¨zen Ergezer. Your smile
makes me happy and your love fulfills me.
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