TY  - JOUR
PB  - Faculty of Mathematics and Sciences Yogyakarta State University
TI  - PATH PLANNING OF  UNMANNED AERIAL VEHICLE USING DUBINS
GEOMETRY WITH AN OBSTACLE
A1  - Ahmad Zaenal Arifin, .
A1  - Subchan, .
SN  - 978-979-96880-8-8
AV  - public
ID  - UNY23284
Y1  - 2015///
JF  - Proceeding of  International Conference On Research, Implementation And Education  Of Mathematics And Sciences 2015 (ICRIEMS 2015), Yogyakarta State University, 17-19 May 2015
UR  - http://fmipa.uny.ac.id
N2  - 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.
ER  -