https://utilitasmathematica.com/index.php/Index
Our journal has been Justice in statistical research involves ensuring that data analysis, sampling, and methodologies are free from biases and prejudices. Equitable access to resources and opportunities is vital to producing unbiased, credible results that contribute to informed decision-making.
A review of unmanned aerial vehicle and their morphing concepts evolution andIAEME Publication
This document provides a review of unmanned aerial vehicles (UAVs) and their morphing concepts, evolution, and implications for present-day technology. It discusses how UAVs follow the laws of physics as aircraft but do not have design constraints of manned aircraft. The document then reviews the history of UAV development, provides classifications of UAVs by size and capabilities, and discusses materials used in UAV construction. It also explores the concept of morphing aircraft that can change shape for different missions, and how this is inspired by birds' ability to modify wing characteristics for various flight conditions.
HEAVY DUTY AIR TRANSPORT VEHICLE (HDATV)vivatechijri
There are various technologies emerging from Aeronautics and Aerospace fields which results into
different problems being solved yet there are some which will be very beneficiary in near future for military as
well as for civil purpose. We as students are working on a problem which will benefit in our near future. In our
project we are designing an electric propelled HDATV (heavy duty air transport vehicle) which utilizes VTOL
technology. The aircraft which we are designing consists of fuselage with two nacelles at the end of high placed
fixed wing and two horizontal stabilizers and a vertical stabilizer along with it. The fuselage and the nacelles are
lifting bodies that are configured to jointly form an aerodynamic lifting body which cooperates with the horizontal
stabilizer to provide aerodynamic lift to the aircraft in forward flight. The nacelles houses two propellers which
are highly pitched and powered by the BLDC Motors operating in counter-rotating directions. The nacelles will
be designed to perform tilting operation in the direction of flight whenever necessary. The aircraft will be
unmanned and controlled via radio controller. The main aim of our project is to demonstrate the use of electric
VTOL technology and to perform basic tasks like avoiding obstacles, to carry loads and to perform some air
manoeuvres.
The Automation and Proliferation of Military Drones and the Protection of Civ...Angelo State University
The document discusses the growing use and proliferation of military drones. It notes that the US leads in drone technology, with thousands being used for surveillance in Iraq and Afghanistan. Armed drones like the MQ-1 Predator and MQ-9 Reaper are controlled remotely from bases in the US and have conducted many strikes. Despite budget cuts, US spending on drones continues to increase and plans are underway to arm more drones. Israel is the second largest drone producer. China is also developing drones and sees an opportunity in the market as the US does not export many armed drones. Over 50 countries now use drones and many are developing their own or buying from countries like the US, Israel and potentially China in the future. This proliferation could impact how
Unmanned Aerial Vehicles (UAVs): An Emerging Technology for Logisticsinventionjournals
Unmanned Aerial Vehicles (UVAs), commonly known as drones have extensively been utilized in military operations during the last decade for surveillance, monitoring enemy activities, collecting information, and even attacking military targets and terrorist hideouts. They are also increasingly finding uses in civil applications, such as policing and firefighting and nonmilitary work, such as inspection of power lines and pipelines. Furthermore, corporations utilized them in commercial applications, such as agriculture, logistics, delivering small packages to rough terrain locations, and medication to emergency locations. UAVs are often preferred for missions that are too ―dull, dirty or dangerous‖ for manned aircraft. This paper is exploratory in nature and describes the past and current usage in logistics and military. It further explores design and development considerations of UAVs. This is an emerging technology that will change the landscape of logistics and supply chain management. This research article provides a basic foundation to academicians, researchers, and commercial companies.
: The main objective of this paper is the systematic description of the current research and
development of small or miniature unmanned aerial vehicles and micro aerial vehicles, with a focus on
rotary wing vehicles. In recent times, unmanned/Micro aerial vehicles have been operated across the
world; they have also been the subject of considerable research. In particular, UAVs/MAVs with rotary
wings have been expected to perform various tasks such as monitoring at fixed points and surveillance
from the sky since they can perform not only perform static flights by hovering but also achieve vertical
takeoffs and landing. Helicopters have been used for personnel transport, carrying goods, spreading
information, and performing monitoring duties for long periods. A manned helicopter has to be used for
all these duties. On the other hand, unmanned helicopters that can be operated by radio control have
been developed as a hobby. Since unmanned helicopters are often superior to manned helicopters in
terms of cost and safety, in recent years, accomplishing tasks using unmanned helicopters has become
popular. Considerable expertise is required to operate unmanned helicopters by radio control, and
hence, vast labor resources are employed to train operators. Moreover, it is impossible to operate
unmanned helicopters outside visual areas because of lack of radio control, and the working area is
hence limited remarkably. For solving the above problems, it is necessary to realize autonomous
control of unmanned helicopters. However, no general method for designing the small unmanned
helicopters has been developed yet – today, various design techniques by different study groups using
different helicopters exist. In this paper the conceptual design process is explained.
The document discusses the ethical use of drones for law enforcement purposes. It begins by providing background on the history of drone use, noting they were originally developed for military purposes but are now being used for law enforcement which raises ethical questions. It discusses how states have enacted laws regarding drone use by law enforcement but these laws were largely reactions to public perceptions without substantive consideration of the issues. The document examines the capabilities of new drone technology and how this will impact their military and law enforcement applications into the future.
IRJET- A Review on Unmanned Aerial Vehicles/Drones Used in Various ApplicationsIRJET Journal
The document provides a review of various types of drones and their applications. It begins with an overview of drones, or unmanned aerial vehicles (UAVs), including their basic components and forces acting upon them. The document then classifies drones based on their applications, such as for weaponry/military use, agriculture, film/photography, and commercial/industrial purposes. Weaponry drones are discussed as some of the earliest types of drones developed for reconnaissance and attacks. The document provides examples of early military drones and more recent ones like the Predator C Avenger. In summary, the document reviews and categorizes different types of drones based on their functions and end uses.
Unmanned Aerial Vehicles (UAVs) are aircrafts that fly without any humans being onboard. They are either remotely piloted, or piloted by an onboard computer. This kind of aircrafts can be used in different military missions such as surveillance, reconnaissance, battle damage assessment, communications relay, minesweeping, hazardous substances detection and radar jamming. However they can be used in other than military missions like detection of hazardous objects on train rails and investigation of infected areas. Aircrafts that are able of hovering and vertical flying can also be used for indoor missions like counter terrorist operations.
A review of unmanned aerial vehicle and their morphing concepts evolution andIAEME Publication
This document provides a review of unmanned aerial vehicles (UAVs) and their morphing concepts, evolution, and implications for present-day technology. It discusses how UAVs follow the laws of physics as aircraft but do not have design constraints of manned aircraft. The document then reviews the history of UAV development, provides classifications of UAVs by size and capabilities, and discusses materials used in UAV construction. It also explores the concept of morphing aircraft that can change shape for different missions, and how this is inspired by birds' ability to modify wing characteristics for various flight conditions.
HEAVY DUTY AIR TRANSPORT VEHICLE (HDATV)vivatechijri
There are various technologies emerging from Aeronautics and Aerospace fields which results into
different problems being solved yet there are some which will be very beneficiary in near future for military as
well as for civil purpose. We as students are working on a problem which will benefit in our near future. In our
project we are designing an electric propelled HDATV (heavy duty air transport vehicle) which utilizes VTOL
technology. The aircraft which we are designing consists of fuselage with two nacelles at the end of high placed
fixed wing and two horizontal stabilizers and a vertical stabilizer along with it. The fuselage and the nacelles are
lifting bodies that are configured to jointly form an aerodynamic lifting body which cooperates with the horizontal
stabilizer to provide aerodynamic lift to the aircraft in forward flight. The nacelles houses two propellers which
are highly pitched and powered by the BLDC Motors operating in counter-rotating directions. The nacelles will
be designed to perform tilting operation in the direction of flight whenever necessary. The aircraft will be
unmanned and controlled via radio controller. The main aim of our project is to demonstrate the use of electric
VTOL technology and to perform basic tasks like avoiding obstacles, to carry loads and to perform some air
manoeuvres.
The Automation and Proliferation of Military Drones and the Protection of Civ...Angelo State University
The document discusses the growing use and proliferation of military drones. It notes that the US leads in drone technology, with thousands being used for surveillance in Iraq and Afghanistan. Armed drones like the MQ-1 Predator and MQ-9 Reaper are controlled remotely from bases in the US and have conducted many strikes. Despite budget cuts, US spending on drones continues to increase and plans are underway to arm more drones. Israel is the second largest drone producer. China is also developing drones and sees an opportunity in the market as the US does not export many armed drones. Over 50 countries now use drones and many are developing their own or buying from countries like the US, Israel and potentially China in the future. This proliferation could impact how
Unmanned Aerial Vehicles (UAVs): An Emerging Technology for Logisticsinventionjournals
Unmanned Aerial Vehicles (UVAs), commonly known as drones have extensively been utilized in military operations during the last decade for surveillance, monitoring enemy activities, collecting information, and even attacking military targets and terrorist hideouts. They are also increasingly finding uses in civil applications, such as policing and firefighting and nonmilitary work, such as inspection of power lines and pipelines. Furthermore, corporations utilized them in commercial applications, such as agriculture, logistics, delivering small packages to rough terrain locations, and medication to emergency locations. UAVs are often preferred for missions that are too ―dull, dirty or dangerous‖ for manned aircraft. This paper is exploratory in nature and describes the past and current usage in logistics and military. It further explores design and development considerations of UAVs. This is an emerging technology that will change the landscape of logistics and supply chain management. This research article provides a basic foundation to academicians, researchers, and commercial companies.
: The main objective of this paper is the systematic description of the current research and
development of small or miniature unmanned aerial vehicles and micro aerial vehicles, with a focus on
rotary wing vehicles. In recent times, unmanned/Micro aerial vehicles have been operated across the
world; they have also been the subject of considerable research. In particular, UAVs/MAVs with rotary
wings have been expected to perform various tasks such as monitoring at fixed points and surveillance
from the sky since they can perform not only perform static flights by hovering but also achieve vertical
takeoffs and landing. Helicopters have been used for personnel transport, carrying goods, spreading
information, and performing monitoring duties for long periods. A manned helicopter has to be used for
all these duties. On the other hand, unmanned helicopters that can be operated by radio control have
been developed as a hobby. Since unmanned helicopters are often superior to manned helicopters in
terms of cost and safety, in recent years, accomplishing tasks using unmanned helicopters has become
popular. Considerable expertise is required to operate unmanned helicopters by radio control, and
hence, vast labor resources are employed to train operators. Moreover, it is impossible to operate
unmanned helicopters outside visual areas because of lack of radio control, and the working area is
hence limited remarkably. For solving the above problems, it is necessary to realize autonomous
control of unmanned helicopters. However, no general method for designing the small unmanned
helicopters has been developed yet – today, various design techniques by different study groups using
different helicopters exist. In this paper the conceptual design process is explained.
The document discusses the ethical use of drones for law enforcement purposes. It begins by providing background on the history of drone use, noting they were originally developed for military purposes but are now being used for law enforcement which raises ethical questions. It discusses how states have enacted laws regarding drone use by law enforcement but these laws were largely reactions to public perceptions without substantive consideration of the issues. The document examines the capabilities of new drone technology and how this will impact their military and law enforcement applications into the future.
IRJET- A Review on Unmanned Aerial Vehicles/Drones Used in Various ApplicationsIRJET Journal
The document provides a review of various types of drones and their applications. It begins with an overview of drones, or unmanned aerial vehicles (UAVs), including their basic components and forces acting upon them. The document then classifies drones based on their applications, such as for weaponry/military use, agriculture, film/photography, and commercial/industrial purposes. Weaponry drones are discussed as some of the earliest types of drones developed for reconnaissance and attacks. The document provides examples of early military drones and more recent ones like the Predator C Avenger. In summary, the document reviews and categorizes different types of drones based on their functions and end uses.
Unmanned Aerial Vehicles (UAVs) are aircrafts that fly without any humans being onboard. They are either remotely piloted, or piloted by an onboard computer. This kind of aircrafts can be used in different military missions such as surveillance, reconnaissance, battle damage assessment, communications relay, minesweeping, hazardous substances detection and radar jamming. However they can be used in other than military missions like detection of hazardous objects on train rails and investigation of infected areas. Aircrafts that are able of hovering and vertical flying can also be used for indoor missions like counter terrorist operations.
The document discusses the Korean War and the involvement of the Soviet Union. It notes that the Korean War began in 1950 following the end of World War II. As tensions grew between the US and Soviet Union, North Korea invaded South Korea. President Truman decided to enter the conflict on the side of South Korea to counter communist influence in the region. The summary provides high-level context about the timing and escalation of the Korean War in relation to World War II and the US-Soviet relationship.
This document reviews deep reinforcement learning techniques for drone navigation and control. It discusses how deep reinforcement learning algorithms help drones learn autonomous navigation in unknown environments without explicit programming or human intervention. The document outlines different deep reinforcement learning approaches like value-based, policy-based, and model-based. It also summarizes the current limitations in applying these techniques for real-world drone navigation and control.
Emergency ejection system in military aircraft reportLahiru Dilshan
Safety is a major concern in the aircraft industry both in commercial and military services. In the fighter jets, there are several unique mechanisms used other than the commercial airliner. Pilots in the fighter jects can abandon the ship in case of an emergency but the other types of aircraft cannot use that kind of mechanism because the passengers are boarded.
Transition of space technologies and the spin off technologies realisedAlexander Decker
This document discusses space technologies and spin-off technologies realized from space exploration. It provides examples of past space technologies from the 20th century that enabled space exploration. It also discusses present space technologies and applications that provide satellite communications, remote sensing, GPS, and benefits to various sectors. Examples of specific spin-off technologies are also outlined from space agencies in Europe and Japan that have applications in areas like living, safety/security, environment, healthcare, industry, and education. Potential new space technologies under development in 2013 are also mentioned, including improved spacesuits and reusable rocket technologies.
(1) A swarm of UAVs refers to a set of aerial drones that work together under autonomous or manual control to achieve a goal. Drones can hover, take off, and land vertically. (2) The paper aims to study drone and swarm characteristics, control technologies, and public awareness of drones. (3) Drone applications include civilian, commercial, and military uses such as disaster relief, cargo transport, and reconnaissance.
Here is a draft informative essay on the Wright Flyer:
The Wright Flyer: The Invention that Launched Modern Aviation
On December 17, 1903, two brothers from Dayton, Ohio achieved one of the greatest feats in human history - they flew the first successful airplane, the Wright Flyer. Orville and Wilbur Wright spent years experimenting with gliders and developing their theories of flight and aerodynamics before achieving powered, controlled flight near Kitty Hawk, North Carolina. In just 12 seconds, the Wright Flyer I flew 120 feet through the air, ushering in the era of aviation.
The Wright brothers were bicycle mechanics who became fascinated with the challenge of human flight in their shop. Through meticulous
The document describes the design and construction of a tri-craft unmanned aerial vehicle (UAV) with vertical take-off and landing capabilities. It includes the history of UAVs and vertical take-off aircraft, the initial and updated project schedules, drawings of the tri-craft design, calculations for components, construction steps, and recommendations. The tri-craft UAV is designed to have three motors, with the front two capable of 90 degree rotation to enable both vertical and horizontal flight.
Sensor Technology and Futuristic Of Fighter Aircraft IJERA Editor
The Next Generation fighter Aircraft seeks a fighter with higher abilities in areas such as reach, persistence,
survivability, net-centricity, situation awareness, human system integration and weapons effects. The future
system will have to counter foe armed with next generation advanced electronic attack, sophisticated integrated
air defense systems, directed energy weapons, passive detection, integrated self-protection and cyber-attack
capabilities. It must be capable to operate in the anti-access area-denial (A2/AD) environment that will exist in
the next coming years.
https://jst.org.in/index.html
Our journal has academic journals form a crucial nexus. Educators leverage the latest research findings to enrich their teaching methodologies, ensuring that students are exposed to the most current and relevant information. Simultaneously, these educators contribute to the body of knowledge through their own research, creating a perpetual cycle of growth.
https://ijaast.com/index.html
Our journal has open-access nature of IJAAST fosters global collaboration. Researchers from diverse geographical locations can engage with and build upon each other's work, transcending borders to collectively address the challenges and opportunities in agricultural science and technology.
https://jst.org.in/index.html
Our journal has serves as a beacon for scholars and practitioners alike, delving into the intricacies of next-generation technologies that promise to reshape the world. From artificial intelligence and renewable energy to advanced materials and beyond, we are at the forefront of engineering's evolution.
https://ijaast.com/index.html
Our journal has increasing flow of scholarly research articles finds a dedicated channel in IJAAST. By offering a consistent platform, the journal facilitates the seamless flow of knowledge, contributing to the intellectual growth of the agricultural science and technology community.
https://ijaast.com/index.html
Our journal has transcends traditional boundaries by embracing a multi-disciplinary approach. The journal serves as a melting pot for diverse research areas within agricultural science and technology, ensuring a holistic exploration of the subject.
https://jst.org.in/index.html
Our journal has foster a sense of community among researchers, scholars, and academics. They provide a space for intellectual exchange, allowing scholars to engage with each other's work, provide constructive feedback, and build upon existing knowledge.
https://ijaast.com/index.html
Our journal has we providing a robust platform for scholarly discourse, IJAAST contributes to the nurturing of future innovations. The journal's role in disseminating novel ideas, methodologies, and findings serves as a catalyst for pushing the boundaries of what is possible in agricultural research.
https://ijaast.com/index.html
Our journal has stands as a beacon of excellence in the realm of agricultural research. With its multi-disciplinary focus, commitment to peer-reviewed excellence, and open-access philosophy, IJAAST is not merely a journal; it is a dynamic hub driving the evolution of agricultural science and technology.
https://ijaast.com/index.html
Our journal has dynamic realm of agricultural science and technology, staying abreast of the latest research findings is crucial for professionals, scholars, and enthusiasts alike. IJAAST transcends traditional boundaries by embracing a multi-disciplinary approach.
https://jst.org.in/index.html
Our Journal has stand as pillars, providing a crucial medium for the advancement and dissemination of research results. This blog post explores the pivotal role these journals play in supporting high-level learning, teaching, and research.
https://jst.org.in/index.html
Our journal has a academic journals is the peer-review process. Before an article is published, it undergoes rigorous scrutiny by experts in the field. This ensures the quality and validity of the research, maintaining a high standard of academic integrity.
https://utilitasmathematica.com/index.php/Index
Our Journal has a exploring partnerships and initiatives to provide training and resources to researchers, reviewers, and editors on issues related to JEDI in statistics. Journal has implemented rigorous editorial practices to ensure that published research adheres to JEDI principles.
Our journal has a academic journals form a crucial nexus. Educators leverage the latest research findings to enrich their teaching methodologies, ensuring that students are exposed to the most current and relevant information. Simultaneously, these educators contribute to the body of knowledge through their own research, creating a perpetual cycle of growth.
https://utilitasmathematica.com/index.php/Index
Our journal has academic and professional communities fosters collaboration and knowledge sharing. When all voices are heard and respected, it strengthens the collective capabilities of the statistical community.
The document discusses the Korean War and the involvement of the Soviet Union. It notes that the Korean War began in 1950 following the end of World War II. As tensions grew between the US and Soviet Union, North Korea invaded South Korea. President Truman decided to enter the conflict on the side of South Korea to counter communist influence in the region. The summary provides high-level context about the timing and escalation of the Korean War in relation to World War II and the US-Soviet relationship.
This document reviews deep reinforcement learning techniques for drone navigation and control. It discusses how deep reinforcement learning algorithms help drones learn autonomous navigation in unknown environments without explicit programming or human intervention. The document outlines different deep reinforcement learning approaches like value-based, policy-based, and model-based. It also summarizes the current limitations in applying these techniques for real-world drone navigation and control.
Emergency ejection system in military aircraft reportLahiru Dilshan
Safety is a major concern in the aircraft industry both in commercial and military services. In the fighter jets, there are several unique mechanisms used other than the commercial airliner. Pilots in the fighter jects can abandon the ship in case of an emergency but the other types of aircraft cannot use that kind of mechanism because the passengers are boarded.
Transition of space technologies and the spin off technologies realisedAlexander Decker
This document discusses space technologies and spin-off technologies realized from space exploration. It provides examples of past space technologies from the 20th century that enabled space exploration. It also discusses present space technologies and applications that provide satellite communications, remote sensing, GPS, and benefits to various sectors. Examples of specific spin-off technologies are also outlined from space agencies in Europe and Japan that have applications in areas like living, safety/security, environment, healthcare, industry, and education. Potential new space technologies under development in 2013 are also mentioned, including improved spacesuits and reusable rocket technologies.
(1) A swarm of UAVs refers to a set of aerial drones that work together under autonomous or manual control to achieve a goal. Drones can hover, take off, and land vertically. (2) The paper aims to study drone and swarm characteristics, control technologies, and public awareness of drones. (3) Drone applications include civilian, commercial, and military uses such as disaster relief, cargo transport, and reconnaissance.
Here is a draft informative essay on the Wright Flyer:
The Wright Flyer: The Invention that Launched Modern Aviation
On December 17, 1903, two brothers from Dayton, Ohio achieved one of the greatest feats in human history - they flew the first successful airplane, the Wright Flyer. Orville and Wilbur Wright spent years experimenting with gliders and developing their theories of flight and aerodynamics before achieving powered, controlled flight near Kitty Hawk, North Carolina. In just 12 seconds, the Wright Flyer I flew 120 feet through the air, ushering in the era of aviation.
The Wright brothers were bicycle mechanics who became fascinated with the challenge of human flight in their shop. Through meticulous
The document describes the design and construction of a tri-craft unmanned aerial vehicle (UAV) with vertical take-off and landing capabilities. It includes the history of UAVs and vertical take-off aircraft, the initial and updated project schedules, drawings of the tri-craft design, calculations for components, construction steps, and recommendations. The tri-craft UAV is designed to have three motors, with the front two capable of 90 degree rotation to enable both vertical and horizontal flight.
Sensor Technology and Futuristic Of Fighter Aircraft IJERA Editor
The Next Generation fighter Aircraft seeks a fighter with higher abilities in areas such as reach, persistence,
survivability, net-centricity, situation awareness, human system integration and weapons effects. The future
system will have to counter foe armed with next generation advanced electronic attack, sophisticated integrated
air defense systems, directed energy weapons, passive detection, integrated self-protection and cyber-attack
capabilities. It must be capable to operate in the anti-access area-denial (A2/AD) environment that will exist in
the next coming years.
https://jst.org.in/index.html
Our journal has academic journals form a crucial nexus. Educators leverage the latest research findings to enrich their teaching methodologies, ensuring that students are exposed to the most current and relevant information. Simultaneously, these educators contribute to the body of knowledge through their own research, creating a perpetual cycle of growth.
https://ijaast.com/index.html
Our journal has open-access nature of IJAAST fosters global collaboration. Researchers from diverse geographical locations can engage with and build upon each other's work, transcending borders to collectively address the challenges and opportunities in agricultural science and technology.
https://jst.org.in/index.html
Our journal has serves as a beacon for scholars and practitioners alike, delving into the intricacies of next-generation technologies that promise to reshape the world. From artificial intelligence and renewable energy to advanced materials and beyond, we are at the forefront of engineering's evolution.
https://ijaast.com/index.html
Our journal has increasing flow of scholarly research articles finds a dedicated channel in IJAAST. By offering a consistent platform, the journal facilitates the seamless flow of knowledge, contributing to the intellectual growth of the agricultural science and technology community.
https://ijaast.com/index.html
Our journal has transcends traditional boundaries by embracing a multi-disciplinary approach. The journal serves as a melting pot for diverse research areas within agricultural science and technology, ensuring a holistic exploration of the subject.
https://jst.org.in/index.html
Our journal has foster a sense of community among researchers, scholars, and academics. They provide a space for intellectual exchange, allowing scholars to engage with each other's work, provide constructive feedback, and build upon existing knowledge.
https://ijaast.com/index.html
Our journal has we providing a robust platform for scholarly discourse, IJAAST contributes to the nurturing of future innovations. The journal's role in disseminating novel ideas, methodologies, and findings serves as a catalyst for pushing the boundaries of what is possible in agricultural research.
https://ijaast.com/index.html
Our journal has stands as a beacon of excellence in the realm of agricultural research. With its multi-disciplinary focus, commitment to peer-reviewed excellence, and open-access philosophy, IJAAST is not merely a journal; it is a dynamic hub driving the evolution of agricultural science and technology.
https://ijaast.com/index.html
Our journal has dynamic realm of agricultural science and technology, staying abreast of the latest research findings is crucial for professionals, scholars, and enthusiasts alike. IJAAST transcends traditional boundaries by embracing a multi-disciplinary approach.
https://jst.org.in/index.html
Our Journal has stand as pillars, providing a crucial medium for the advancement and dissemination of research results. This blog post explores the pivotal role these journals play in supporting high-level learning, teaching, and research.
https://jst.org.in/index.html
Our journal has a academic journals is the peer-review process. Before an article is published, it undergoes rigorous scrutiny by experts in the field. This ensures the quality and validity of the research, maintaining a high standard of academic integrity.
https://utilitasmathematica.com/index.php/Index
Our Journal has a exploring partnerships and initiatives to provide training and resources to researchers, reviewers, and editors on issues related to JEDI in statistics. Journal has implemented rigorous editorial practices to ensure that published research adheres to JEDI principles.
Our journal has a academic journals form a crucial nexus. Educators leverage the latest research findings to enrich their teaching methodologies, ensuring that students are exposed to the most current and relevant information. Simultaneously, these educators contribute to the body of knowledge through their own research, creating a perpetual cycle of growth.
https://utilitasmathematica.com/index.php/Index
Our journal has academic and professional communities fosters collaboration and knowledge sharing. When all voices are heard and respected, it strengthens the collective capabilities of the statistical community.
https://jst.org.in/index.html
Our journal has academic journals are not mere repositories of information; they are dynamic entities that breathe life into the academic world. They provide a stage for the drama of ideas, where researchers, educators, and learners converge to push the boundaries of knowledge.
https://jst.org.in/index.html
Our journal Research Knowledge and experience exchange increases social, economic and cultural growth, higher education, career and commercial prospects relevant to members of the department and its surrounding area. And it's journal publishes research papers in the fields of science and technology such as Astronomy and astrophysics, Chemistry, Earth and atmospheric sciences, Physics, Biology in general.
https://utilitasmathematica.com/index
Our Journal has we strive to minimize barriers to access and participation, ensuring that opportunities within the statistical community are available to all, regardless of background. This includes addressing issues such as language barriers, geographical disparities, and financial constraints that may limit access to statistical education and resources.
https://jst.org.in/index.html
Our journal has stands as a beacon of excellence in the field, fostering a culture of high-quality research and unwavering commitment to academic integrity. As research continues to push the boundaries of what's possible, peer review remains an essential tool in ensuring that we continue to progress responsibly and ethically in the realms of science and technology.
https://jst.org.in/index.html
Our journal has Numbers tell stories, and in the world of research and development, mathematics is the universal language. Join us as we explore the elegant equations and mathematical models that underpin technological advancements and scientific breakthroughs.
This document discusses a study that uses GIS techniques to estimate floods in the Upper Sarada River Basin in Visakhapatnam District, India. Daily rainfall data from 23 stations in the region from 1990-2019 and discharge data from a gauge station near Anakapalle are collected. A digital elevation model of the basin is created to extract drainage characteristics. A unit hydrograph is derived from the DEM hydrological processing and used to estimate peak floods for different storms. Eight observed storm events are validated using the unit hydrograph and Thiessen polygon method.
বাংলাদেশের অর্থনৈতিক সমীক্ষা ২০২৪ [Bangladesh Economic Review 2024 Bangla.pdf] কম্পিউটার , ট্যাব ও স্মার্ট ফোন ভার্সন সহ সম্পূর্ণ বাংলা ই-বুক বা pdf বই " সুচিপত্র ...বুকমার্ক মেনু 🔖 ও হাইপার লিংক মেনু 📝👆 যুক্ত ..
আমাদের সবার জন্য খুব খুব গুরুত্বপূর্ণ একটি বই ..বিসিএস, ব্যাংক, ইউনিভার্সিটি ভর্তি ও যে কোন প্রতিযোগিতা মূলক পরীক্ষার জন্য এর খুব ইম্পরট্যান্ট একটি বিষয় ...তাছাড়া বাংলাদেশের সাম্প্রতিক যে কোন ডাটা বা তথ্য এই বইতে পাবেন ...
তাই একজন নাগরিক হিসাবে এই তথ্য গুলো আপনার জানা প্রয়োজন ...।
বিসিএস ও ব্যাংক এর লিখিত পরীক্ষা ...+এছাড়া মাধ্যমিক ও উচ্চমাধ্যমিকের স্টুডেন্টদের জন্য অনেক কাজে আসবে ...
it describes the bony anatomy including the femoral head , acetabulum, labrum . also discusses the capsule , ligaments . muscle that act on the hip joint and the range of motion are outlined. factors affecting hip joint stability and weight transmission through the joint are summarized.
A Strategic Approach: GenAI in EducationPeter Windle
Artificial Intelligence (AI) technologies such as Generative AI, Image Generators and Large Language Models have had a dramatic impact on teaching, learning and assessment over the past 18 months. The most immediate threat AI posed was to Academic Integrity with Higher Education Institutes (HEIs) focusing their efforts on combating the use of GenAI in assessment. Guidelines were developed for staff and students, policies put in place too. Innovative educators have forged paths in the use of Generative AI for teaching, learning and assessments leading to pockets of transformation springing up across HEIs, often with little or no top-down guidance, support or direction.
This Gasta posits a strategic approach to integrating AI into HEIs to prepare staff, students and the curriculum for an evolving world and workplace. We will highlight the advantages of working with these technologies beyond the realm of teaching, learning and assessment by considering prompt engineering skills, industry impact, curriculum changes, and the need for staff upskilling. In contrast, not engaging strategically with Generative AI poses risks, including falling behind peers, missed opportunities and failing to ensure our graduates remain employable. The rapid evolution of AI technologies necessitates a proactive and strategic approach if we are to remain relevant.
Strategies for Effective Upskilling is a presentation by Chinwendu Peace in a Your Skill Boost Masterclass organisation by the Excellence Foundation for South Sudan on 08th and 09th June 2024 from 1 PM to 3 PM on each day.
A review of the growth of the Israel Genealogy Research Association Database Collection for the last 12 months. Our collection is now passed the 3 million mark and still growing. See which archives have contributed the most. See the different types of records we have, and which years have had records added. You can also see what we have for the future.
This presentation includes basic of PCOS their pathology and treatment and also Ayurveda correlation of PCOS and Ayurvedic line of treatment mentioned in classics.
How to Fix the Import Error in the Odoo 17Celine George
An import error occurs when a program fails to import a module or library, disrupting its execution. In languages like Python, this issue arises when the specified module cannot be found or accessed, hindering the program's functionality. Resolving import errors is crucial for maintaining smooth software operation and uninterrupted development processes.
MATATAG CURRICULUM: ASSESSING THE READINESS OF ELEM. PUBLIC SCHOOL TEACHERS I...NelTorrente
In this research, it concludes that while the readiness of teachers in Caloocan City to implement the MATATAG Curriculum is generally positive, targeted efforts in professional development, resource distribution, support networks, and comprehensive preparation can address the existing gaps and ensure successful curriculum implementation.
Exploiting Artificial Intelligence for Empowering Researchers and Faculty, In...Dr. Vinod Kumar Kanvaria
Exploiting Artificial Intelligence for Empowering Researchers and Faculty,
International FDP on Fundamentals of Research in Social Sciences
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By Dr. Vinod Kumar Kanvaria
Exploiting Artificial Intelligence for Empowering Researchers and Faculty, In...
mathematica journal
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Path planning in Unmanned Aerial Vehicles (UAVs): Overview, Challenges,
and Solutions
Hazha Saeed Yahia1, Amin Salih Mohammed2
1
Faculty of Engineering, Department of Information Technology, Duhok Polytechnic University,
Duhok, Iraq, hazha.yahia@hotmail.com
2
Faculty of Engineering, Department of Information Technology, Lebanese French University,
Erbil, Iraq, kakshar@gmail.com
Abstract
Path planning is a significant problem while designing UAV systems. Though a massive amount
of research suggests solutions for the issues and challenges of UAV path planning, the issues and
challenges still exist. On the one hand, UAV path optimization problems involve infinite
variables due to the continuous UAV trajectory to be determined. On the other hand, the issues
are often impacted by various real-world restrictions (such as connection, fuel limits, collision
avoidance, and terrain avoidance), which are challenging to simulate since they change over
time. Besides, path planning selects the shortest optimal path and avoids obstacles and collisions
during the flight. This manuscript investigates the state-of-the-art history, classification, and
applications of UAVs, then the main challenges in UAV design are overviewed. One of the main
challenges in UAVs is path planning with obstacle avoidance. In addition, the paper provides a
comparison and summarization of the leading methodologies and strategies for path planning.
Keywords: Unmanned aerial vehicles, drones, UAV classification, UAV challenges, path
planning.
1. INTRODUCTION
The recent advanced technology in the aerospace industry has dramatically impacted the growth of the
UAV industry and its development over the last decades. The UAVs have high mobility and quick
deployment capabilities; therefore, they can perform tasks in dangerous and hostile environments, not
only in the military but also in civil missions. An unmanned aerial vehicle (UAV) is an aircraft that
flies autonomously or under the pilot's control to deliver lethal or non-lethal payloads [1]. Besides,
UAVs offer new possibilities for different applications at a feasible expense [2]
Although UAVs have undergone massive development over decades and recently have been used in
all areas, UAVs are still facing many challenges, technical limitations, and legal issues. Because of
their ease of use, nowadays, UAVs have a risk to privacy due to their ability to spy on people,
organizations, and governments. Therefore, many governments try to impose proper rules, regulations,
and ethical rules for UAV license and procedures. Law enforcement is trying to make significant
efforts to stop rogue UAVs by signal jamming and attacking and capturing them. Furthermore, as
mentioned previously, many countries are working on developing UAVs, and this requires a need to
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have interpretability between all the different parts of the system. The idea of standard interpretability
was started by the North Atlantic Treaty Organization (NATO) in the early 1990s when NATO
conducted the Interpretability Design Study without forcing countries to follow their design [3].
Although UAVs have different shapes, sizes, weights, operations, different ways for takeoff and
landing, and many other differences, they still the UAVs face many limitations, including regulations,
the data post-processing, posting, tracking, weight, stability, loss of connection, limitation in flight
range, and payload weight that they can carry [3].
The purpose and motivation of this paper are to review the literature about unmanned aerial vehicles,
the history of UAVs, their classification, and their main issues and challenges. Followed by a detailed
review of the path planning challenges in UAVs and the existing methods and techniques for solving
the path planning challenges. Figure 1 shows the structure of this paper and the content of each part
and section.
The rest of the paper, section 2, includes an overview of the UAVs and their history, classifications,
and structure. Section 3 consists of the challenges of UAVs; section 4 includes an overview of the path
planning and the main challenges in UAV path planning. Finally, section 5 consists of the available
solutions for path planning in UAVs in literature, followed by the conclusion.
Figure 1. Structure of the paper
2. OVERVIEW OF UNMANNED AERIAL VEHICLES
The recent advanced technology in robotics has dramatically impacted the UAV industry and its
development over the last decades. Due to the UAV's high mobility and fast deployment capabilities,
the aerospace sector has seen a dynamic growth in UAV use. Remarkably, UAVs can perform tasks in
dangerous and hostile environments, not only in the military but also in civil missions.
Unmanned aerial vehicles (UAVs), sometimes called drones, are powered flying objects that are
operated remotely and autonomously and carry payloads like cameras, sensors, communication
devices, or other payloads [4]. Due to their tiny size and lightweight, the simple operating system
decreased operational hazards, and significant advantages of quick access from one location to
another, UAVs are frequently utilized [5][6]. Additionally, because of their excellent mobility and
ability to take off and land vertically, UAVs have become quite popular in the surveillance industry
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[5]. These features provide them with significant benefits over various platforms or settings. The
following section gives an overview of UAVs' creation, categorization, and use.
2.1 History of UAVs
Despite the fast development of UAVs nowadays and using them in all areas and applications, the idea
behind UAVs initially was to use them as a weapon on the battlefields to target the enemy (another
side)'s sites. There are considerable disputes about the history of UAVs and when the designing and
development of UAVs started. Few studies indicated that the history of UAVs is back to the 1840s
when Austria sent boob-filled balloons to attack Venice in Italy. Other studies suggest that history
goes back to the 1900s. At the same time, others show that the history is back to 1943. Even though all
the above evidence about the UAVs, the UAVs developed during World War II, especially by Nazi
forces in Germany and the department of defense in the USA. Since then, UAV manufacturing had
grown dramatically and entered a new era when UAVs started to be used in civil applications and
missions [7].
The Austrian army released 200 balmy air balloons with explosives during the Austrian siege of
Venice in 1849, expecting the wind would take the balloons. The experiment had only limited success
because of the unpredictability of the weather, but the concept was still viable for future investigation
[8][9]. Moreover, radio-controlled vessels underwent a new stage of development when Nikola Tesla
created the first one (a radio-controlled boat) towards the end of the 19th century. Later, Tesla's
invention was employed during reconnaissance during World Wars I and II[10].
During the WWI participant countries of the war developed considerable eccentric weapons,
especially by Nazi forces and other countries. Aerial torpedoes and flying bombs accounted for many
of these weapons [11]. However, these weapons have problems with crews and difficulty landing and
recovering, with difficulty in stabilization during the flight. For instance, the pilotless aircraft
developed utilizing Archibald Low's radio-controlled methods [9]. Later, in 1917, Britain developed
and brought to the USA a pilotless aircraft known as the "Hewitt-Sperry Automatic Airplane," "Flying
Bomb," or "Aerial Torpedo," but the war ended before using the new aircraft.
Figure 2. Kettering Bug, QH-50C DASH drone, and Black Hornet Nano [8][11]
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After WWI, the British royal navy launched an aircraft with no pilot known as Larynx. Besides,
during the 1930s, many countries tried to develop new UAVs; in 1931, the UK created the "Fairy
Queen UAV," a radio-controlled aircraft. In 1935 the USA army developed RP-1 aircraft, but it was
unsuccessful. Later in 1938, the RP-1 was developed into RP-2 by the UAS army, but again, it was
unsuccessful.
During WWII, using target drones continued for antiair gunnery practice. Also, utilizing radio-
controlled drones and flying glider bombs by the Allies and the Axis to deliver munitions. For
instance, the USS Aaron Ward (DD-483), BG-1 drone, BG-2 drone, TBD Devastator aircraft, SB2C
Helldiver, SB2d Destroyer driver, and other examples.
After the outbreak of WWII and with the beginning of the Cold War, which was fought between the
Soviet Union and its satellite countries and the United States of America and its allies, then a war
between North Korea and South Korea, followed by the Vietnam war, and finally, the Gulf war, many
people lost their lives [11]. During the Vietnam war, the UAVs were successfully used for
reconnaissance and during the wars in Afghanistan and Iraq, the military values of UAVs were
proven. Besides, they evaluated various weapons, especially in the field of UAVs. These wars led
some countries to work more on research for developing the UAV industry [11]. As a result of the
maturation of technology through the 1980s and into the 1990s, the interest of the military sector in
developing UAVs continues to grow[8].
The contemporary quadcopter UAV started to appear as hobby kits in the 1990s and 2000s. The
"Draganflyer quad helicopter," created in 1999, was well-liked by UAV researchers and garnered
notoriety after being used. The first consumer UAV was later released in 2010 under the name "AR
Drone" by the French company Parrot, and it could be flown and controlled over Wi-Fi on mobile
devices. Since then, the UAV business has expanded in both the military and public sectors.
2.2 Classification of UAVs
Due to the fast development in the UAV industry since the 1990s, there are nowadays numerous
UAVs in the market that are different in characteristics, mechanisms, and configurations [12].
Depending on the mission of the UAV, the available UAVs have different specifications, equipment,
the number of rotors, altitude, sizes, ranges, the flight time, altitude, payload, and shapes [13][14].
Still, there is no uniform classification of the UAVs and classified them on different criteria [15].
Therefore, in this paper, the classification of UAVs is based on a variety of factors, including
aerodynamics, landing, size, and mission performance (applications), as shown in Figure 3.
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Figure 3. Classification of UAVs
2.2.1 Based on the aerodynamic
Based on the aerodynamic construction, the UAVs are classified into four categories, fixed wings,
rotor wings, multirotor, and ducted fan UAVs [16]. The fixed-wing UAVs are the type of UAVs that
has good performance for large-scale infrastructures and [17] can carry a heavy payload and are
usually used in missions and operations requiring high-speed, such as in the military, surveillance
operations, and mapping applications [18]. Due to fuel consumption (gas engine powered), fixed-wing
UAVs travel a great distance, with an average flight time of around 16 hours. Compared to other drone
varieties, this UAV can fly at a high altitude and carry greater weight [19][20].
The second type is the rotary-wing UAVs, which carry small payloads and are easy to maneuver, land,
and takeoff [17]. These types are more often used in commercial and for-profit endeavors like aerial
photography and mapping [6][7].
The multirotor UAVs, which have more than one motor and are the third type, are simple to operate,
have flexible mobility, and are adaptable to utilize. A multirotor can fly in all directions, including up,
down, backward, forwards, and sideways [18][21]. Besides, multirotor can take off vertically. Hence,
they have disadvantages in requiring a lot of power, and travel time is short. Widespread applications
for multirotor include mapping, aerial photography, surveillance, inspection, and monitoring.
Multirotor have four types based on the number of motors: tricopter, quadcopter, hexacopter, and
octocopter [18][19]. Typically, trirotor platforms have three rotors linked to their arms. Due to the
minimal number of rotors, these platforms are less stable and have modest lift capacity, despite their
cheap cost.
Quadrotor platforms are by far the most common and have been shown to be versatile, with fewer
moving parts than hexarotor and octorotor platforms. With just four limbs, quadrotors may be built
with a modest diameter, making them suitable for recreational use. Due to its dependability and
subsequent popularity, commercial quadrotor platforms are regarded as the prototypical multirotor
design.
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The last type is the Ducted fan UAV which has the characteristics of vertical takeoff, landing and
maneuvering at different angles. Moreover, they can adapt to complex environments and complete
challenging missions. Due to their characteristics, this type of UAV is preferred to be used for special
missions[22].
Figure 4. Classification of UAVs based on aerodynamic.
2.2.2 Based on the landing
UAVs are classified based on the landing techniques into three categories, VTOL, HTOL, and Hybrid.
Like a traditional helicopter, VTOL UAVs are capable of vertical takeoff, landing, and horizontal
propulsion through the air. This kind is intended to carry out a broad range of commercial and military
applications under challenging circumstances [1]. The VTOL UAVs are either monorotos such as
Orincopter or ducted fans or multirotor such as tricopter and quarcopter. The propulsion systems of
HTOL UAVs are located either on the front or back of the fuselage. UAVs of this kind provide
horizontal takeoff and landing. The HTOL comes in a different form, including fixed-wing and
morphing-wing. While hybrid UAVs combine VTOL and HTOL and provide the advantages of both
with higher performance and efficiency, this kind is still in its infancy [23][24].
2.2.3 Based on the size
UAVs are classified as nano, mini, macro, small, tactical, and large or combat UAVs [25]. Nano, mini,
macro, and small UAVs are made with tiny rotors and motors. They are extremely small and are
simple to operate and fly. Besides, they are fixed wings or multirotor [20]. Most missions using this
kind of UAV include surveys and search and rescue efforts [26][27][28]. Another type is Tactical
UAVs, they are small-size UAVs, around 1.5 meters, and light weights, 1 kg. In the military, this type
of UAV is used for emergency management and critical mission operations. Despite many
advantages, the interest in tactical UAVs has decreased [29]. While the large UAVs are the types of
UAVs that have a big weight, usually more than 150 kg and the range of flight is between 70 to 300
km and in some UAVs (the combat UAVs) is around 1500 km. In general, the large UAVs are the
UAVs that are used in military and for military missions [30].
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Figure 5. Classification of UAVs based on the size.
2.2.4 Based on performing missions (Applications)
Based on missions the UAVs performed, UAVs are classified into military missions and civil missions
[31]. Military applications include detection, identification, search and rescue, emergency responses,
border control, and tactical logistics. At the same time, those civil missions include policing duties,
traffic spotting, fisheries protection, pipeline surveys, sports events, film coverage, agricultural
operations, and many other applications [32]. Due to their simplicity in deployment, low maintenance
costs, excellent mobility, and hovering capabilities, UAVs are utilized in civil applications.
2.3 UAVs hardware designs
Unmanned aerial vehicles (UAVs) are aircraft with directed flight paths and no pilots on board. UAV
is an integrated part of the Unmanned aerial systems (UAS). Unmanned aerial systems (UASs) are
unmanned air vehicles and related equipment that are either remotely piloted or fly autonomously. The
UAS consists of an air vehicle with no pilot on board [4], a control system, control link
(communication link), and payload, as shown in Figure 6. UAVs can make instantaneous decisions
intelligently without human interaction [33][20][34].
The air vehicle is a pilotless UAV that comes in different shapes, sizes, and types, as shown
previously. The air vehicle consists of the fuselage, which is the main body structure of the air vehicle.
The fuselage carries the payload, the main body structures of the UAVs, such as; the UAV flight
controller, the telemetry transmitter, anti-jamming, cameras, sensors, automatic takeoff and landing
system, and many other parts [35]. Unmanned aerial vehicles (UAVs) have a ground station that
manages and controls them, and this ground station is referred to as the control system. Whether the
drone is being directly remotely flown by a person or is designed to fly autonomously, it is a crucial
component of drone operations [36]. The primary method for sending and receiving information
across radio frequencies is the control link. It includes antennas, amplifiers, transmitters, receivers,
power sources, and frequencies [37]. Finally, the payload is the additional sensors, devices, or
armaments carried by the fuselage of the unmanned aerial vehicle (UAV)[35].
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Figure 6. UAS structure
3. CHALLENGES OF UAVS
Even though the UAV industry has recently had a dramatic improvement in both military and civil
sectors, and many countries, companies, and researchers deal with it and its services and application, it
still faces many challenges. These challenges are identified from literature and incident reports such as
path planning, surveillance, navigation, communication, energy efficiency, technical standards,
coordination, air policing, ground services, and other challenges [38]. The difficulties inherent in UAV
path planning are the primary subject of this article.
Path planning in UAVs is their most significant challenge and has recently been studied actively. Path
planning refers to finding an optimal path from start to destination in the most feasible way while
avoiding obstacles and threats to the flying environment with the least possible cost, such as flying
time, fuel consumption, and other charges. Path planning in UAVs involves accomplishing the goal
safely while keeping a velocity more significant than the minimum rate. This means UAVs cannot
follow a path with sharp turns or vertices [13]. Hence, path planning has many challenges and issues
in UAVs, such as movable obstacles, complex environments, finding the shortest path, multi-agent
UAVs, complex map-terrain, and producing smooth trajectories.
Generally, robots need to localize their current location to decide their path; they need to know about
their environment and what is included. Either by having a map of the environment or using sensors to
navigate the environment. Therefore, several challenges are connected to route planning in robots.
These issues include movable obstacles, multi-agent robots, determining the shortest path, complicated
map-terrain, creating smooth trajectories, complex surroundings, and natural motion. While in UAVs,
path planning is the same as in other types of robots with a slight difference in that the velocity must
be minimum and avoid paths with sharp turns or vertices [13]. Besides, path planning will be the key
technology to achieve the autonomous execution of tasks.
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4. SOLUTIONS
The optimization issue of path planning has received significant attention recently. Path planning often
aims to find the best or nearly the best route from the source or starting point to the destination or
distention [39]. The ideal route may be the shortest, avoid obstructions, prevent collisions in hazy
conditions, and complete its objectives [4][40]. UAVs need to localize their present location, generate
a map (if one doesn't already exist), and if the environment is uncertain, it deals with their situation.
They need to avoid obstacles to identify the best route. Additionally, when looking for the best route,
the UAV must take competency, accuracy, and execution time into account.
4.1 Classifications
Despite the current works and research on path planning in UAVs, finding the optimal path is yet a
challenge. Due to the complexity of the problem itself, solutions of this problem vary in literature, and
there are different classifications and views for this. Such as solutions based on the type of path
planning, local or global, or based on the space and environment, static environment or dynamic
environments, and many other bases for classifications. Figure 7 shows the general classification of
solutions available in the literature. Despite all the different categories of classification, all the
categories are related and cannot be separated. For instance, global path planning is offline, and so on.
4.1.1 Based on the type
The first classification is based on the type, which classified into global path planning and local path
planning. When information about the environment and its terrain and obstructions is known, global
path planning creates the path from start to destination. Therefore, the path was completely planned
before the movement [41]. In comparison, in local path planning, the information about the
environment or unknown or partially known, and the UAV depends on the sensors to discover the
environment, and the UAV needs to change the map and the path whenever changes happen [42].
4.1.2 Based on the space
The second classification depends on the space domain, there are two types of spaces: two-
dimensional (2D) and three-dimensional (3D) environment. The 2D is a "flat" environment that has
horizontal and vertical dimensions [43]. The 3D environment, besides the vertical and horizontal
dimensions, has a depth dimension that gives rotation and visualization from multiple perspectives and
planning the path in the 3D environment is a complex multi-objective optimization problem that has
many constraints [44].
4.1.3 Based on the time
Third, based on the time domain includes offline and online time domains and these two types are
very close to local and global path planning. In online mode, the UAV flies in an environment whose
information is partially or entirely unknown. The UAV must explore the environment using sensors
and update its path according to the changes in the environment. The path plan will be in real-time
[45]. While, the offline mode, the agent has complete information about the environment and its
obstacles, plus the full planned path and its starting and destination points [44].
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4.1.4 Based on the methods.
Finally, based on optimization methods, approaches and algorithms, and based on this criteria the path
planning solutions are classified into three main sub categories as, classical methods, map-based
methods, and heuristic and meta-heuristic methods [46]. The first category is the classical methods
that are used for optimizing the path planning in UAVs. Classical methods were popular before the
development of intelligent techniques. Although there were widespread, these methods are not
guaranteed, and the cost of using them is high, and in case of an uncertain environment, they might fail
[47]. The classical methods have different methods and algorithm, in this paper, three methods have
been covered as artificial potential field, cell decomposition, and the road map.
Electrical charges and the electric fields they produce are the primary sources of inspiration for the
APF approach. It operates by combining the forces resulting from their attraction and repulsion
capacity. The UAV and the obstacles often get comparable charges, but the UAV and the target
typically receive different costs. Therefore, the UAV feels attracted to the objective and repulsed by
the barriers. The UAV is navigated across an uncharted area to its target while avoiding obstacles
using the direction of the resulting force [48].
Figure 7. Artificial potential field [49]
In the cell decomposition method, the environment is divided into smaller regions called cells. These
cells are either pure cells that do not contain any obstacles or corrupted cells that contain obstacles.
Based on the cells, a connectivity graph is constructed [47]. The agent uses this connectivity graph to
traverse from the start to the destination, as shown in Figure 8.
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Figure 8. Cell decomposition method [47]
Graph search algorithms determine a path from start to the destination by checking some map nodes to
find the path. Many algorithms exist in this category, such as Depth-First search (DFS), Bredth_first
search (BFS), and Vest-first search algorithms [50].
The second category is the map-based methods that are based on a pre-defined map of the
environment and then a path planned from start to destination. These types of methods are usually the
global path planning methods. There are many algorithms and techniques that are based on the map-
based methods such as Dijkstra algorithm, A* algorithm, Dubins curve, Voronoi Diagram Method,
and many other algorithms. Edsger Dijkstra developed the Dijkstra algorithm in 1959, and it is based
on a weighted graph in that each node has a weight [51]. It was finding the shortest path from start to
destination based on the path's weight. The Dijkstra algorithm visits all the nodes within the graph to
reach the destination, which requires more time and is considered a disadvantage of this algorithm
[50].
Hart introduced A* algorithm in 1968, based on the concepts of the Dijkstra algorithm for finding the
shortest path [52]. This algorithm has many advantages, such as its fast finding of the shortest path and
reasonable real-time performance. A* algorithm uses an occupancy grid map to assign a cost for all
the nodes and traverse the map to find the shortest path based on the lowest cost of the nodes [53][54].
Hence, this algorithm does not guarantee finding the shortest path and is prone to fall in local
optimum, and it is difficult to apply in large environments [55].
The third type is heuristic and meta-heuristic algorithms. Previously the term heuristic was used, and it
refers to techniques for finding the optimum solution among the viable options. The algorithms imitate
natural systems and phenomena and maintain the qualities of parallel operation and information
exchange between agents. But recently the term meta-heuristic used instead of heuristics and meta-
heuristic algorithms are optimization methods and high-level problem independent methods that
mimic the natural behavior for finding the optimum solution. Meta-heuristics are developed to find
solutions that are good enough in an acceptable time [56]. Recently these algorithms are recognized as
efficient methods and have become viable and superior compared to other classical methods, since
these algorithms are applicable to optimization problems in the real world and do not place restrictions
on the formulation of the optimization problem (like requiring constraints or objective functions to be
expressed as linear functions of the decision variables) [57]. Meta-heuristics in general have two types
single-based solutions and population-based solution meta-heuristics. In this paper, four meta-heuristic
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algorithms will be reviewed as the Particle swarm optimization (PSO), Grey wolf optimizer (GWO),
Artificial bee colony (ABC), and the Bat algorithm (BA).
Kennedy and Eberhart developed the particle swarm optimization (PSO) method in 1995, drawing
inspiration from the fish schools and the intelligent swarm behavior of bird folks. The PSO is easy to
implement and has strong robustness [58]. The PSO started with a random set of solutions and then
searched for an optimal solution through iterative updates [59]. The second algorithm is the Grey wolf
optimizer (GWO) that introduced by Seyedali Mirjalili in 2014 that mimics the behavior of the Grey
wolf optimizer (GWO)[60]. The inspiration for this algorithm is the social hierarchy of grey wolves
and hunting mechanism behavior. Grey wolves guided by three wolves, alpha, beta, and the delta, and
these wolves guide other wolves (W) to the best area in searching space. And they hunt large prey in
packs and rely on cooperation among individual wolves.
Figure 9. Grey wolf hierarchy [60]
The Bat algorithm (BA), a meta-heuristic algorithm inspired by nature, was created by Xin-She Yang
in 2010. For distance determination, this algorithm imitates the echolocation of the bat. Bats flit
around at different speeds and directions. Depending on how close their target is, they may
automatically change the frequency (or wavelength) and rate of pulse emission [61].
Figure 10. Bats’ Echolocation behavior [62]
The last example of meta-heuristic algorithm is the Artificial bee colony (ABC) algorithm that was
developed by Dervis Karaboga in 2005. When the population is first created, ABC creates a
population of solutions with a uniform distribution, where each solution is a dimensional vector. The
population's optimization issue for a certain food supply has an inverse relationship with the number of
variables. Based on knowledge from personal experiences and the fitness value of the new solution,
the hired bees change the existing solution. The bee replaces the old food source with the new one and
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discards the old one if the new food source's fitness value exceeds that of the old food source. The
position is updated with the size of steps required to get the new locations using the dimensional
vectors established previously in the first phase [63].
5. CONCLUSIONS
The optimum route planning challenge for UAVs is referred to as UAV path planning. The primary
goal of the optimization path is to locate a safe flight path that uses the least amount of energy to carry
out the UAV mission. For finding the optimal path for UAVs, literature contains many proposed
methods and techniques; these methods are divided into different categories based on various criteria.
Such as based on the type, space, time, and based on methods or algorithms. In general, all the classes
are connected and cannot be separated. The primary purpose is to analyze the factors that affect the
path planning UAVs and find optimal solutions.
This paper reviewed the research progress in this area; despite all the methods and techniques, path
planning still needs to be considered as the main challenge facing the development of UAVs. The fast
growth of technology In the area of robotics and the aviation industry leads to requiring higher
standards of UAVs, and recently UAVs are not using In the military only; UAVs are used now In
many civil applications, and this requires autonomous UAVs with a collision-free path with less
energy, time, and cost.
CONFLICTS OF INTEREST: The authors declare no conflict of interest.
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