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oai:drum.lib.umd.edu:1903/186662017-06-13T10:35:06Zcom_1903_2263com_1903_1654com_1903_2col_1903_2795col_1903_3

Herrmann, Jeffrey W Azarm, Shapour Rudnick-Cohen, Eliot Sylvan Digital Repository at the University of Maryland University of Maryland (College Park, Md.) Mechanical Engineering 2016-09-07T05:35:05Z 2016-09-07T05:35:05Z 2016 https://doi.org/10.13016/M2222Q http://hdl.handle.net/1903/18666 Safe operation of unmanned aerial vehicles (UAVs) over populated areas requires reducing the risk posed by a UAV if it crashed during its operation. We considered several types of UAV risk-based path planning problems and developed techniques for estimating the risk to third parties on the ground. The path planning problem requires making trade-offs between risk and flight time. Four optimization approaches for solving the problem were tested; a network-based approach that used a greedy algorithm to improve the original solution generated the best solutions with the least computational effort. Additionally, an approach for solving a combined design and path planning problems was developed and tested. This approach was extended to solve robust risk-based path planning problem in which uncertainty about wind conditions would affect the risk posed by a UAV. en RISK-BASED MULTIOBJECTIVE PATH PLANNING AND DESIGN OPTIMIZATION FOR UNMANNED AERIAL VEHICLES Thesis Mechanical engineering Design and Planning Design Optimization Path Planning Risk Robust Optimization UAV open.access