Simulation of motions of a 6DoF unmanned aerial vehicle from the mathematical model in free space
1 Department of Physics/Electronics, Abia State Polytechnic, Aba, Abia State, Nigeria.
2 Department of Electrical/Electronics, Enugu State University of Science and Technology, Enugu State, Nigeria.
Review Article
Global Journal of Engineering and Technology Advances, 2023, 15(02), 011–018.
Article DOI: 10.30574/gjeta.2023.15.2.0084
Publication history:
Received on 21 March 2023; revised on 02 May 2023; accepted on 05 May 2023
Abstract:
This work prepares a smooth playing ground to modeling and simulation of a Collision Avoidance for Cooperative UAVs with Rolling Optimization Algorithm (ROA) Based on Predictive State Space (PSS) technique using Matlab, Simulink and Aerospace toolboxes of MathsWork. The methodological approach adopted is Computer Aided Software Engineering and to have handle collisions and maneuvers in a mathematical way, normal simulation of the trajectory of both the UAV and obstacles is defined by geometric approach. The goal of the work is to develop a mathematical model of a six degree of freedom (6DoF) of unmanned aerial vehicle (UAV) in free space for further modeling and simulation of a collision avoidance for cooperative UAVs with the required specifications. The motion (modeling of mathematical parameters like velocity, position, body rotational rate and Euler angles) of the 6DoF aircraft was determined by coordinate systems which allow the aircraft’s position and orientation in spaceto be kept tracked. The discrete form of the developed model for simulation was achieved using appropriate transfer functions. The development of the mathematical model will enable the development of an artificial NN model predictive controller (MPC) that can handle the nonlinearities associated with the UAV based on PSS technique.
Keywords:
UAV; Mathematical Model; Simulation; Coordinate System; Motion Platform
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Copyright © 2023 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution Liscense 4.0