Hai-Wu Lee, Shoaib Ahmed, and Chi-Shiuan Lee
Logistics intelligent UAV, improve PID, linear quadratic regulator, dynamic path planning, emergency treatment system
As unmanned aerial vehicle (UAV) starts to be frequently used in industry, agriculture, reconnaissance, and logistics, flight research involving UAV also starts to cover a wider range. In the civil field, UAVs are generally used as an auxiliary tool to deal with urban problems, but buildings are the main factors hindering the flight of UAVs. Therefore, it is necessary to find out the optimal flight path of UAVs under certain constraints. The intelligent logistics UAV proposed in this paper is used to replace the courier to deliver small goods. It is a quadcopter integrated with a webcam, ultrasound ground proximity warning system (GPWS), and is controllable through a mobile APP. Linear quadratic regulator (LQR) and improved proportion-integral-derivative (PID) controllers are applied in its flight control system. In the path planning, compared with the traditional A algorithm and artificial potential field algorithm, the ant colony algorithm and dynamic path planning used in this paper can quickly solve the optimal path of UAV in complex terrain. UAV can detect the working state of components during flight and the surrounding obstacles. The operator’s phone will receive the feedback information of the UAV immediately and carries out the process manually or automatically to ensure flight safety.
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