基于分散进近的无人机三维避碰系统

IF 0.6 Q3 ENGINEERING, MULTIDISCIPLINARY

IIUM Engineering Journal Pub Date : 2023-07-04 DOI:10.31436/iiumej.v24i2.2803

M. H. Harun, S. Abdullah, Mohd Shahrieel MOHD ARAS, Mohd Bazli Bahar, Fariz ALI @IBRAHIM

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引用次数: 0

摘要

无人驾驶飞行器已经发展和完善了几十年。使用集成软件系统，自主无人驾驶飞行器(uav)自动执行任务并返回预编程点。马来西亚有很多未被占用的空域，但自主无人机的应用和研究仍然很少。在关键条件下，自主无人机必须处理各种环境和飞行问题。本项目涉及一种用于自主无人机的分散式三维避碰系统。三维避碰系统选用了超声波、红外和激光测距仪。在四次实验中测试了无人机的障碍物识别和避碰性能。在各种飞行条件下，3D防撞系统可以通过集成选定的测距仪来识别多种材料类型和不透明度。最后，3D避碰系统对X、Y和Z轴上的障碍物做出快速反应。摘要:Kenderaan udara tanpa pemandu (UAV)无人机可用于探测卫星。孟古纳坎系统是一种自动驾驶系统，可以自动驾驶无人机(UAV)，也可以自动驾驶无人机(UAV)。马来西亚航空公司，马来西亚航空公司，马来西亚航空公司，马来西亚航空公司，马来西亚航空公司，马来西亚航空公司，马来西亚航空公司。Dalam keadaan critical，无人机自主评测menangani pelbagai是一种警报系统。项目ini melibatkan系统penelakan perlanggaran三维三维无人机自主。超音波、红外线和激光成像系统。无人驾驶飞机(UAV)的飞行实验。这句话的意思是:“我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说，我是说。”[3] [2] [3] [3] [3] [3] [3] [3] [4]

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3D COLLISION AVOIDANCE SYSTEM FOR UNMANNED AERIAL VEHICLE (UAV) WITH DECENTRALIZED APPROACH

Unmanned aerial vehicles UAVs have been developed and refined for decades. Using an integrated software system, autonomous unmanned aerial vehicles (UAVs) perform missions automatically and return to a pre-programmed point. Malaysia has a lot of unoccupied airspace, yet autonomous UAV applications and research are still rare. In critical conditions, autonomous UAVs must deal with a variety of environmental and flight issues. This project involves a decentralized 3D collision avoidance system for an autonomous UAV. Ultrasonic, infrared, and laser rangefinders were chosen for the 3D collision avoidance system. The UAV's obstacle recognition and collision avoidance performance are also tested in four experiments. In various flight conditions, the 3D collision avoidance system can identify several material types and opacities by integrating selected rangefinders. Finally, the 3D collision avoidance system quickly reacts to obstacles in the X, Y, and Z axes. ABSTRAK: Kenderaan udara tanpa pemandu (UAV) telah dibangunkan dan diperhalusi selama beberapa dekad. Menggunakan sistem perisian bersepadu, kenderaan udara tanpa pemandu (UAV) autonomi melaksanakan misi secara automatik dan kembali ke titik pra-diprogramkan. Malaysia mempunyai banyak ruang udara yang tidak berpenghuni, namun aplikasi dan penyelidikan UAV autonomi masih jarang berlaku. Dalam keadaan kritikal, UAV autonomi mesti menangani pelbagai isu alam sekitar dan penerbangan. Projek ini melibatkan sistem pengelakan perlanggaran 3D terpencar untuk UAV autonomi. Pencari jarak ultrasonik, inframerah dan laser telah dipilih untuk sistem pengelakan perlanggaran 3D. Prestasi pengecaman halangan dan pengelakan perlanggaran UAV juga diuji dalam empat eksperimen. Dalam pelbagai keadaan penerbangan, sistem pengelakan perlanggaran 3D boleh mengenal pasti beberapa jenis bahan dan kelegapan dengan menyepadukan pencari jarak terpilih. Akhir sekali, sistem pengelakan perlanggaran 3D bertindak balas dengan cepat terhadap halangan dalam paksi X, Y dan Z.

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来源期刊

IIUM Engineering Journal ENGINEERING, MULTIDISCIPLINARY-

CiteScore

2.10

自引率

20.00%

发文量

审稿时长

40 weeks

期刊介绍： The IIUM Engineering Journal, published biannually (June and December), is a peer-reviewed open-access journal of the Faculty of Engineering, International Islamic University Malaysia (IIUM). The IIUM Engineering Journal publishes original research findings as regular papers, review papers (by invitation). The Journal provides a platform for Engineers, Researchers, Academicians, and Practitioners who are highly motivated in contributing to the Engineering disciplines, and Applied Sciences. It also welcomes contributions that address solutions to the specific challenges of the developing world, and address science and technology issues from an Islamic and multidisciplinary perspective. Subject areas suitable for publication are as follows: -Chemical and Biotechnology Engineering -Civil and Environmental Engineering -Computer Science and Information Technology -Electrical, Computer, and Communications Engineering -Engineering Mathematics and Applied Science -Materials and Manufacturing Engineering -Mechanical and Aerospace Engineering -Mechatronics and Automation Engineering