Autonomous Aerial Vehicle - Based on Non-Monotonic Logic

Abstract

Abstract:In this article we study the case of an autonomous motor-glider. The aims of the aircraft is to maintain its flight as long as possible, taking advantage of the rising air from the ground, known as thermals, despite of limited energy resources and possible external influences, such as turbulences. The pilot task being to make decisions with incomplete, uncertain or even contradictory information, as well as driving to the desired path or destination. We propose the formulation of a model from the point of view of logical theory, using nonmonotonic logic and more specifically default logic, to tackle these problems. Finally, we present the results of a simulation for further application in a glider(reduced model) which use solar cells for power management in embedded system. INTRODUCTIONThe glider is one of the most relevant aircraft, in terms of the ratio of the distance traveled and the loss of altitude. Making it more efficient to fly than other aircrafts. In this paper, we focus on an autonomous glider(reduced model), a convenient choice(cost) in terms of weight and aerodynamics. The principle of a glider is that it uses the "vertical" wind (thermal and dynamic energy). It is to "climb", which that means to increase in altitude and reach an updraft, while "descent", expresses the rate of descent in a downward burst. "Zero" descent means that updrafts are strong enough to maintain flight, but not enough to allow climbing. As in the nature, there are various species of birds using the same principle. For example: albatross and condor. To perform those flight maneuvers, a pilot must take decisions concerning the flight situation from the cockpit. He has access to different instruments showing altitude, wind speed, inclination of the aircraft, etc. Another constraint is that he also needs to find thermals, respecting the aeronautical and security regulations. Taking these considerations into account, the pilot must follow his desired flight path applying control commands. Increasing or decreasing altitude, turning to the right or left, etc. These rules are applicable to many types of aircraft. We introduce a discrete model of flight rules. This method is based on non-monotonic logic. There are different research proposals in non-monotonic logic reasoning: default reasoning, autoepistemic reasoning, reasoning in the presence of contradictory information and negative reasoning (El-Azhary et al., 2002). On another side, we can consider our model as a resilient system. These systems have the ability to resist and adapt from disturbances. They also are highly adaptive, having the capability to merge information, make decisions, interact with multiple agents and have a memory to facilitate learning (Goerger et al., 2014;Chandra, 2010). The main objective is to present a system based on flight rules capable to choose actions with incomplete information. The case study is presented in section 2. In section 3 classical logic representation is described. Section 4 is dedicated to the theoretical definition of defa...