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Advisor(s)
Abstract(s)
Os Veículos Aéreos Não Tripulados(VANTs) são aeronaves que não têm um piloto a bordo,
mas necessitam de um controlador no solo, podendo ser totalmente autónomos.
Querendo que um ou múltiplos VANTs se desloquem de um ponto A a um ponto B
num menor número de passos possível sem colidir com nenhum objeto ou com os outros
VANTs surge a necessidade de programação de um algoritmo para fazer o planeamento da
sua trajectória. Neste trabalho foi escolhido o algoritmo A* por ser um algoritmo bastante
usado nesta aplicação em específico e tem-se demonstrado bastante eficiente. Propondo
ambientes com diferentes complexidades e um diferente número de VANTs, pretende-se
desenvolver um algoritmo com base no método A* para Matlab de forma a serem feitas
simulações em diferentes ambientes simulados.
Os resultados obtidos são comparados e discutidos, verificando assim a eficiência do
algoritmos nas diferentes simulações.
É possível concluir que o algoritmo obteve bons resultados em termos de custo e que
foi capaz de atingir os seus objetivos em todas as simulações.
Unmanned Aerial Vehicles (UAVs) are aircrafts that don’t have a pilot on board, needing a controller on the ground, but can be totally autonomous. Wanting one or multiple UAVs to travel from point A to point B in the less amount of steps possible without colliding with any object or with each other comes the need to program an algorithm to be in charge of it’s path planning. In this paper we choose A* algorithm because it is an algorithm well used in this application in specific and has proved to be quite efficient. Proposing envoirements with different level of complexity and different number os UAVs, it is intended to develop an algorithm with A* as it’s base for Matlab in order to make simulations with a set of UAVs. The obatined results will be compared and discussed, thus checking the efficiency of the algorithm in the different simulations. It is possible to conclude that the algorith had good results in terms of cust and was able to achieve it’s goals in every simulations.
Unmanned Aerial Vehicles (UAVs) are aircrafts that don’t have a pilot on board, needing a controller on the ground, but can be totally autonomous. Wanting one or multiple UAVs to travel from point A to point B in the less amount of steps possible without colliding with any object or with each other comes the need to program an algorithm to be in charge of it’s path planning. In this paper we choose A* algorithm because it is an algorithm well used in this application in specific and has proved to be quite efficient. Proposing envoirements with different level of complexity and different number os UAVs, it is intended to develop an algorithm with A* as it’s base for Matlab in order to make simulations with a set of UAVs. The obatined results will be compared and discussed, thus checking the efficiency of the algorithm in the different simulations. It is possible to conclude that the algorith had good results in terms of cust and was able to achieve it’s goals in every simulations.
Description
Keywords
UAV Optimization Algoritmo A* Matlab Path Planning