Route planning in 3d environment for unmanned aerial vehicles with computational intelligence methods

The development in technology has provided development and change in the field of unmanned aerial vehicles, as in every field. Rapid developments in hardware and software have enabled unmanned aerial vehicles to take place in daily life and become an important actor in the military field. Today, when it comes to unmanned vehicles, one of the first issues that comes to mind is autonomous and autonomous level. In this thesis, route planning for unmanned aerial vehicles in order to realize autonomous driving in two-dimensional and three-dimensional environments and reaching the target by exhibiting proactive behavior are discussed. In the solution of the problem, meta-heuristic algorithm approaches are used in order to keep the resource and time efficiency at the highest level while creating the optimum route to reach the target and this information. Particle Swarm Optimization, Differential Evolution Algorithm and Genetic Algorithm were used in a two-dimensional environment whose field structure was known beforehand. In addition, Particle Swarm Optimization, Gray Wolf Optimization and Particle Swarm Optimization and Gray Wolf Optimization algorithms proposed as hybrid algorithms were used in the environment whose field structure was not known before. The proposed hybrid algorithm was found to be successful. Gazebo was used as a simulation application for the three-dimensional environment. In the gazebo environment, a lidar sensor is used for the unmanned aerial vehicle to detect the external environment. The hybrid algorithm approach, which was developed in a three-dimensional environment whose field structure is unknown, was used. The unmanned aerial vehicle reached the target autonomously. The created route was compared with the bird's eye distance between the start and the target, performance evaluation was made and successful results were obtained. In the first few sentences, the importance of the subject and the aim of the thesis should be defined and brief information about the method and findings should be presented. Finally, the information produced should be expressed briefly.