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http://dx.doi.org/10.9709/JKSS.2019.28.1.093

Generating an Autonomous Landing Testbed of Simulated UAV applied by GA  

Han, Changhee (Computer Science Dept., Korea Military Academy)
Publication Information
Journal of the Korea Society for Simulation / v.28, no.1, 2019 , pp. 93-98 More about this Journal
Abstract
In case of unmanned aerial vehicles used in modern society, there has been a problem where a human operator should be still needed to control the UAV because of a lower level of autonomy. In this paper, genetic algorithm is selected as a methodology for the autonomy accomplishment and then we verify a possibility of UAV autonomy by applying the GA. The landing is one of the important classical tasks on aerial vehicle and the lunar Landing is one of the most historical events. Autonomy possibility of computer-simulated UAV is verified by landing autonomy method of a falling body equipped with a propulsion system similar to the lunar Lander. When applying the GA, the genom is encoded only with 4 actions (left-turn, right-turn, thrust, and free-fall) and applied onto the falling body, Then we applied the major operations of GA and achieved a success experiment. A major contribution is to construct a simulated UAV where an autonomy of UAV can be accomplished while minimizing the sensor dependency. Also we implemented a test-bed where the possibility of autonomy accomplishment by applying the GA can be verified.
Keywords
Genetic Algorithm; Landing; Autonomy; Simulation; Unmanned Aerial Vehicle;
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