Article Per Year (5 Year)
p-Index From 2021 - 2026
0.23
P-Index
This Author published in this journals
All Journal Bulletin of Electrical Engineering and Informatics
Al Kubaisi, Yasir Mahmood
Unknown Affiliation
Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search
Journal : Bulletin of Electrical Engineering and Informatics

 1 
Developing a model for unmanned aerial vehicle with fixed-wing using 3D-map exploring rapidly random tree technique Dallal Bashi, Omar I.; K. Hameed, Husamuldeen; Al Kubaisi, Yasir Mahmood; H. Sabry, Ahmad
Bulletin of Electrical Engineering and Informatics Vol 13, No 1: February 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i1.5305

Abstract

While the motion planning algorithms consider the obstacles that were known in the map, it is possible to use obstacle avoidance algorithms to take over and send commands to theunmanned aerial vehicle (UAV), when there is an unknown obstacle on the way. The rapidly random tree (RRT) algorithm is used to plan paths for a quad-copter or a fixed-wing UAV. This work develops a model for UAV with fixed-wing using a 3D map exploring the RRT technique. The first step is to obtain a 3D occupancy map from the map data stored in the UAV city to provide a map with some pre-generated obstacles. The contribution of this work is to use RRT planning for 3D state space, where the motion segment or motion primitive connecting the two consecutive states should be defined in a 3D space while satisfying the motion constraints of a UAV. The simulation includes setting up a 3D map, providing the starting and destination pose, planning a way using RRT and 3D Dubins moving primitives, smoothing the acquired trajectory, and simulating the UAV flight. The results obtained demonstrate that the smoothed-generated waypoints significantly improved tracking in general with shorter paths.
Co-Authors Dallal Bashi, Omar I. H. Sabry, Ahmad K. Hameed, Husamuldeen