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Planification de trajectoire pour drones de combat

Abstract : This thesis is about path planning for HALE or MALE UAVs (Unmanned Aircraft Vehicles), possibly under mission constraints. As such, the study is performed at the kinematic level : HALE UAVs are represented as Dubins systems, and a model for MALE UAVs is constructed by studying their kinematic frame. In the first part, we tackle the path planning problem for a UAV that must join a target (a point or a pattern), starting from any position. The point to point path planning problem is addressed as an optimal control problem. Regarding the point to pattern path planning problem, two different methods are proposed. The former consists in solving the minimum time synthesis for the Dubins system, in order to obtain a basis for a HALE UAVs planning algorithm. The latter method relies on the LaSalle principle ; it permits to stabilize a HALE or MALE UAV to a pattern.In addition, extensions of the previously developed algorithms to cluttered environnement are provided. This extension is achieved thanks to a space discretization using Voronoi diagrams and a discrete planning method. Finally, the mission constraints are dealt with as a coupling problem between the UAV and its sensors. The proposed algorithm is presented in the form of a constrained quadratic problem.In the second part of this thesis, we want to refine the planning algorithm to get a result closer to trajectories of pilots. In order to do that, we solve an inverse optimal control problem where the cost to find is computed from the experience of pilots. Theoretical results are presented and applied to the particular case of the Dubins system.
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Submitted on : Monday, March 3, 2014 - 11:52:09 AM
Last modification on : Saturday, June 25, 2022 - 7:48:48 PM
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  • HAL Id : tel-00954584, version 1


Thibault Maillot. Planification de trajectoire pour drones de combat. Autre [cs.OH]. Université de Toulon, 2013. Français. ⟨NNT : 2013TOUL0008⟩. ⟨tel-00954584⟩



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