PATH PLANNING OF UNMANNED AERIAL VEHICLE USING DUBINS GEOMETRY WITH AN OBSTACLE

Ahmad Zaenal Arifin, . and Subchan, . (2015) PATH PLANNING OF UNMANNED AERIAL VEHICLE USING DUBINS GEOMETRY WITH AN OBSTACLE. Proceeding of International Conference On Research, Implementation And Education Of Mathematics And Sciences 2015 (ICRIEMS 2015), Yogyakarta State University, 17-19 May 2015. ISSN 978-979-96880-8-8

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Abstract

Motivation: Unmanned Aerial Vehicles (UAV) is an aircraft that is controlled without the use of human beings crew. One of main problem of Unmanned Aerial Vehicle’s (UAV) flight is guide. UAV need a guide who can direct the movement of aircraft to arrive at the destination, so it takes planning trajectory (path planning) appropriate to the aircraft can be controlled in accordance with the objectives and can pass the desired trajectory. Given two points on a 2-dimensional plane, the two points are coordinates the initial and final coordinates to be taken by UAV. And between the two points is given a obstacle in the form circle. Planning algorithm trajectory using Dubins geometry. Results obtained from this paper are path planning to produce path between two points with the shortest distance and shortest time. The first track is the track without a obstacle and the second path is the path to the obstacle. Differences in distance on the second track is provided.

Item Type: Article
Subjects: Prosiding > ICRIEMS 2015 > Mathematics & Mathematics Education
Divisions: Fakultas Matematika dan Ilmu Pengetahuan Alam > Jurusan Pendidikan Matematika > Pendidikan Matematika
Depositing User: Administrator
Date Deposited: 10 Jul 2015 03:48
Last Modified: 10 Jul 2015 03:48
URI: http://eprints.uny.ac.id/id/eprint/23284

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