NEURAL NETWORK FOR AUAV LANDING USING STOCHASTIC GRADIENT DESCENT ALGORITHM

Dabbiru Ravi Vikranth Research Scholar, Dept. of Comp. Sc. & Engg., MATS University, Raipur, INDIA vjdabbiru@gmail.com
Prof. Anuraag Sarma Dept. of Comp. Sc. & Engg., MATS University, Raipur, INDIA anusriraag@matsuniversity.ac.in

Abstract

Landing an AUAV on a ship deck platform is one of the most researched topics in the field of unmanned vehicles. Small fixed-wing AUAV with 250 landing passes are considered with no cross-wind disturbances. Mean Time for landing and taxing of AUAV on ship deck platform (though highly dependent on dimensions of Carrier Vehicles) is assumed to be of 45 seconds duration. AUAV response time is 16 seconds whilst carrier vehicles have only 21 seconds for both sea wave dynamics and AUAV movements. Deep Stall landing procedure is incorporated into the control algorithm owing to its high risk and high performance in a time-constrained environment. Six data points are considered while implementing the SGD Algorithm during Glide Phase. Γ is assumed to be 0.3 for optimal result. Carrier and AUAV State estimation is derived by sensor data using GPS, Optical Electric Color sensors (onboard AUAV) for Fresnel lens (Carrier), IMU etc. The Control Algorithm used Feed Forward Propagation with the landing prediction GO in 74.4% and NO GO (Turn Around) in 11.6% and failures in 14% cases.

Keywords:

Stochastic Gradient Descent Algorithm; Autonomous Unmanned Aerial Vehicle; Ship Deck Platform.


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References



[1] The ICAO Report on Commercial Airline Accidents, https://www.icao.int/safety/iStars/Pages/Accident-Statistics.aspx [2] Ahmed Mohammad Yagonb Adam, Md. Abd Alla, A Elmahed Dalia Mohammad (2017). A Smart Neural Network Based Algorithm for Landing Control of Autonomous UAV, IJARSE, ISSN: 2319 – 8354, Vol. 6 – Issue 11, pp 1175 - 1187. [3] Sookwon Lee, Youdon Kim et. al. (2014): Unmanned Aerial Vehicles Glide – Path – Angle – Tracking for Autonomous Carrier Landing, Proceedia Engineering – Elsevier, Conference Paper. [4] Jaime Rubio Hervas, Hui Tang, M. Reyhanoglu (2014): Automatic Landing Control of Unmanned Aerial Vehicles on Moving Platforms, IEEE [5] Drone Rules 2020, Min. of Civil Aviation, Act, Govt. of INDIA

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