Yazar "Haghighi, Hassan" seçeneğine göre listele

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    Multi-Objective Cooperated Path Planning of Multiple Unmanned Aerial Vehicles Based on Revisit Time
    (Amer Inst Aeronautics Astronautics, 2021) Haghighi, Hassan; Asadi, Davood; Delahaye, Daniel
    This paper investigates multi-objective optimization of coordinated patrolling flight of multiple unmanned aerial vehicles in the vicinity of terrain, while respecting their performance parameters. A new efficient modified A-star (A*) algorithm with a novel defined criterion known as individual revisit time cell value is introduced and extended to the whole area of the three-dimensional mountainous environment. As a contribution to solving tradeoffs in the optimization problem, revisit time is conjugated with other contrary costs effective in flight planning through Pareto analysis. By introducing the revisit time and applying a specific setup to mitigate computational complexity, the proposed algorithm efficiently revisits the desired zones, which are more important to be revisited during the patrolling mission. The results of the introduced modified A* algorithm are compared in various scenarios with two different algorithms: a complete and optimal algorithm known as Dijkstra, and an evolutionary algorithm known as the genetic algorithm. Simulation results demonstrate that the proposed algorithm generates faster and more efficient trajectories in complex multi-agent scenarios due to the introduced cell selection method and dynamic-based simplifications applied in this research.
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    Öğe
    Performance-based emergency landing trajectory planning applying meta-heuristic and Dubins paths
    (Elsevier, 2022) Haghighi, Hassan; Delahaye, Daniel; Asadi, Davood
    Emergency Landing is a complex problem of optimal path planning of an impaired airplane in presence of obstacles, while the airplane performance characteristics have degraded. Some in-flight failures can affect the airplane dynamics and therefore the new dynamic constraints must be considered in flight planning to the desired landing site. This paper introduces a novel hybrid form of Dubins-simulated annealing (HDSA) optimization framework for emergency landing. The proposed architecture applies Dubins paths and Apollonius' tangent line to generate candidate pieces of trajectories respecting the post-failure performance characteristics of the distressed airplane. The optimization pattern is used to select the optimal combination of the candidate trajectories based on the cost functions and the environmental constraints to lead the airplane to the desired landing site. Analytical performance based equations are developed to achieve an admissible solution in emergency trajectory planning. The goal is to provide a general optimal framework, which can enhance the flight management system by assisting the pilot to plan the most suitable and admissible trajectory to the landing site in emergency flight conditions. The effectiveness of the proposed approach is demonstrated through simulations. (C)& nbsp;2022 Elsevier B.V. All rights reserved.
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    Öğe
    UAV Trajectory Optimization for Maximum Soaring in Windy Environment
    (World Scientific Publ Co Pte Ltd, 2024) Haghighi, Hassan; Delahaye, Daniel; Moschetta, Jean-Marc; Asadi, Davood
    Optimal trajectory planning in a windy environment is a complex problem when airplane performance characteristics are considered. This paper introduces a novel form of Legendre pseudospectral optimization to solve boundary value problems in UAV trajectory planning. The proposed architecture applies Legendre-Gauss-Lobatto and Hamilton-Jacobi-Bellman equations to generate candidate pieces of trajectories with respect to the UAV dynamic constraints. Analytical performance-based solutions are also developed for sample cases to achieve an optimal criterion in trajectory planning. Moreover, the notion of wind soaring is exploited to use the beneficial effects of tailwind velocities in trajectory planning. Integral cost functions are handled by Gauss-type quadrature rules. Simulations demonstrate the efficiency of the pseudospectral method compared with other solvers, in eliminating the difficulties of boundary value problems by employing the boundary points in the interpolation equation. The effectiveness of the proposed approach is demonstrated through dynamic simulations.