Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP
نویسندگان
چکیده
منابع مشابه
Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP
We will in this paper address the problem of offline path planning for Unmanned Aerial Vehicles (UAVs). Our goal is to find paths that meet mission objectives, are safe with respect to collision and grounding, fuel efficient and satisfy criteria for communication. Due to the many nonconvex constraints of the problem, Mixed Integer Linear Programming (MILP) will be used in finding the path. Appr...
متن کاملDistributed MPC-Based Path Planning for UAVs under Radio Communication Path Loss Constraints
In this paper we address the Model Predictive Control (MPC)-based path planning problem for Unmanned Aerial Vehicles (UAVs). Our goal is to find trajectories that are safe with respect to grounding and collision, fuel efficient and satisfy criteria for communication such that the UAVs form a chain with a given radio communication capacity. A centralized MPC and a distributed MPC approach to sol...
متن کاملUAVs Trajectory Planning by Distributed MPC under Radio Communication Path Loss Constraints
In this paper, a distributed linear MPC approach to solve the trajectory planning problem for rotary-wing UAVs is proposed, where the objective of the UAV system is to form a communication network to multiple targets with given radio communication capacities. The approach explicitly incorporates constraints on radio communication path losses, computed by using SPLAT! that is able to take into a...
متن کاملAutonomous Path Planning and Estimation using UAVs
The main contribution of this work is an online path planning framework for cooperative search and localization using unmanned aerial vehicles. In this work, a team of vehicles is used to cooperatively search for a single stationary target. A vision-based sensing system, that incorporates position and attitude uncertainty, is used to develop probabilistic likelihood functions. By accounting for...
متن کاملPath Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs
This paper presents a semi-analytical trajectory planning method for quadrotor UAVs. These trajectories are analytically defined, are constant in speed and sub-optimal with respect to a weighted quadratic cost function of the translational and angular velocities. A technique for concatenating the trajectories into multi-segment paths is demonstrated. These paths are smooth to the first derivati...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2011
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-011-9619-8