Information gathering planning with Hermite spline motion primitives for aerial vehicles with limited time of flight

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00325387" target="_blank" >RIV/68407700:21230/19:00325387 - isvavai.cz</a>

Result on the web

<a href="https://link.springer.com/chapter/10.1007%2F978-3-030-14984-0_15" target="_blank" >https://link.springer.com/chapter/10.1007%2F978-3-030-14984-0_15</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-14984-0_15" target="_blank" >10.1007/978-3-030-14984-0_15</a>

Result language

angličtina

Original language name

Information gathering planning with Hermite spline motion primitives for aerial vehicles with limited time of flight

Original language description

This paper focuses on motion planning for information gathering by Unmanned Aerial Vehicle~(UAV) solved as Orienteering Problem~(OP). The considered OP stands to find a path over subset of given target locations, each with associated reward, such that the collected reward is maximized within a limited time of flight. To fully utilize the motion range of the UAV, Hermite splines motion primitives are used to generate smooth trajectories. The minimal time of flight estimate for a given Hermite spline is calculated using known motion model of the UAV with limited maximum velocity and acceleration. The proposed Orienteering Problem with Hermite splines is introduced as Hermite Orienteering Problem~(HOP) and its solution is based on Random Variable Neighborhood Search algorithm~(RVNS). The proposed RVNS for HOP combines random combinatorial state space exploration and local continuous optimization for maximizing the collected reward. This approach was compared with state of the art solutions to the OP motivated by UAV applications and showed to be superior as the resulting trajectories reached better final rewards in all testing cases. The proposed method has been also successfully verified on a real UAV in information gathering task.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Modelling and Simulation for Autonomous Systems (MESAS 2018)

ISBN

978-3-030-14983-3

ISSN

0302-9743

e-ISSN

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Number of pages

30

Pages from-to

172-201

Publisher name

Springer International Publishing AG

Place of publication

Cham

Event location

Praha

Event date

Oct 17, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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