Name
Title | ||
|---|---|---|
Energy-constrained motion planning for information gathering with autonomous aerial soaring |
Abstract | ||
|---|---|---|
Autonomous aerial soaring presents a unique opportunity to extend the flight duration of Unmanned Aerial Vehicles (UAVs). In this paper, we examine the problem of a gliding UAV searching for a ground target while simultaneously collecting energy from known thermal energy sources. The problem is posed as a tree search problem by noting that a long-duration mission can be divided into similar segments of flying between and climbing in thermals. The algorithm attempts to maximise the probability of detecting a target by exploring a tree of the possible thermal-to-thermal transitions to a fixed search depth and executing the highest utility plan. The sensitivity of the algorithm to different search depths is explored, and the method is compared against a locally-optimal myopic search algorithm. In larger, more complicated problems, the suggested method outperforms myopic search by sacrificing short-term utility to reach more valuable exploration areas later in the mission. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6631115 | Robotics and Automation |
Keywords | Field | DocType |
aerospace control,autonomous aerial vehicles,computational complexity,mobile robots,object detection,optimisation,path planning,probability,tree searching,NP-hard problem,autonomous aerial soaring,climbing,energy collection,energy-constrained motion planning,flight duration,flying,gliding UAV,ground target searching,highest utility plan,information gathering,locally-optimal myopic search algorithm,long-duration mission,probability maximisation,search depth,short-term utility,target detection,thermal energy source,thermal-to-thermal transition,thermals,tree exploration,tree search problem,unmanned aerial vehicles | Motion planning,Object detection,Mathematical optimization,Search algorithm,Thermal energy,Search problem,Engineering,Climbing,Mobile robot,Computational complexity theory | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-4673-5641-1 | 10 | 0.60 |
References | Authors | |
5 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Joseph Nguyen | 1 | 10 | 0.60 |
| Nicholas R. W. Lawrance | 2 | 10 | 0.60 |
| Robert Fitch | 3 | 323 | 38.97 |
| Salah Sukkarieh | 4 | 1142 | 141.84 |