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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilizace a řízení týmů vzájemně lokalizovaných autonomních helikoptér letících oblastmi s velkým výskytem překážek</a><br>

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems (MESAS 2018)

ISBN

978-3-030-14983-3

ISSN

0302-9743

e-ISSN

—

Počet stran výsledku

30

Strana od-do

172-201

Název nakladatele

Springer International Publishing AG

Místo vydání

Cham

Místo konání akce

Praha

Datum konání akce

17. 10. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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