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    Cognitive UAS Path-Planning for Large Spatial Search

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    LePichon_ku_0099M_17398_DATA_1.pdf (4.801Mb)
    Issue Date
    2020-08-31
    Author
    Le Pichon, Thomas Brendan
    Publisher
    University of Kansas
    Format
    70 pages
    Type
    Thesis
    Degree Level
    M.S.
    Discipline
    Aerospace Engineering
    Rights
    Copyright held by the author.
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    Abstract
    Search and Rescue/Destroy missions are some of the most high-risk situations in modern engineering. Every mission nearly always presents a life or death scenario for one or more individuals, with the penalty for failure often being human lives. Modern Search and Rescue/Destroy missions implement the use of autonomous systems in the form of giving an unmanned autonomous aerial system(s) the task of searching a given area in the attempt of discovering one or more objects of interest. Though this ingenuity has already benefited the line of work, these unmanned systems are still not being used to their full potential. Some means of planning how to search the area must be developed, with the most basic means of accomplishing this task being creating a predefined path which is guaranteed to cover all known areas. To increase the rate of success and decrease necessary search time, a pseudo-random search method, known as meta-heuristics, is used to develop a new path planning algorithm to search the field in an intelligent manner. This work develops a means of turning meta-heuristic optimization into a cognitive navigation with autonomous path-planning algorithm that is decoupled from apriori information, with minimal requirements for initiation. To account for the higher performance requirements of such a method, novel guidance methods were developed to meet said demands. Simulations suggest that the proposed search method performs better on average than the current accepted basis.
    URI
    http://hdl.handle.net/1808/32599
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    • Theses [3768]

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    Contact KU ScholarWorks
    785-864-8983
    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
    785-864-8983

    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
    Image Credits
     

     

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