CHAPTER 1
INTRODUCTION
1.1 Introduction
Helicopter is one of the example that having control problem for a highly complex and unstable system, nonlinear, and very sensitive to external disturbance
[1]. To overcome the problems, Genetic Algorithm GA can be applied since it is often used in optimization and search problems [2]. It is a search technique used in
computing to find exact or approximate solutions to optimization and search problems. Genetic Algorithms are a particular class of evolutionary algorithms EA
that use techniques inspired by evolutionary biology such as inheritance, mutation, selection, and crossover. This robust and flexible method can handle complex
problem domains as well as noise and can be used for multi objective optimization [3]. Because of these characteristics, the microcontroller for an autonomous
helicopter must be fast in computing the control response. This kind of prototype is often tuned in different operating conditions such as vehicle speed, payload, and
altitude or wind speed [4]. The programming of Genetic Algorithm will be implemented into microcontroller of autonomous helicopter. The microcontroller
will receive sensors data as the input, and it will be analyzed and optimized by Genetic Algorithm in microcontroller, and the output will be feedback to the motors
of helicopter to achieve the stability and movement control for the helicopter.
1.2 Objectives
The objectives of this project are: i.
To study the Genetic Algorithm concept ii.
To develop Genetic Algorithm in C language environment iii.
To implement C programming of Genetic Algorithm into microcontroller iv.
To control the stability and movement of autonomous helicopter
1.3 Scope of Study
This project required to study and understands the concept of GA from the sources of reference book and internet. Through the understanding of GA, the
functions of GA are then programmed in C language environment. Besides that, developments of fitness functions are required to carry out for stability and
movement control. Finally, a set of sensors data will be optimized by using GA and the optimized results will be used to control the motors of autonomous helicopter in
order to achieve the stability and movement control.
1.4 Problem Statement