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Wind-energy based path planning for unmanned aerial vehicles using Markov decision processes

Al-Sabban, Wesam H., Gonzalez, Luis F., & Smith, Ryan N. (2013) Wind-energy based path planning for unmanned aerial vehicles using Markov decision processes. In Proceedings - IEEE International Conference on Robotics and Automation, IEEE, Kongresszentrum Karlsruhe, Karlsruhe, Germany, pp. 784-789.

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    Abstract

    Exploiting wind-energy is one possible way to extend flight duration for Unmanned Arial Vehicles. Wind-energy can also be used to minimise energy consumption for a planned path. In this paper, we consider uncertain time-varying wind fields and plan a path through them. A Gaussian distribution is used to determine uncertainty in the Time-varying wind fields. We use Markov Decision Process to plan a path based upon the uncertainty of Gaussian distribution. Simulation results that compare the direct line of flight between start and target point and our planned path for energy consumption and time of travel are presented. The result is a robust path using the most visited cell while sampling the Gaussian distribution of the wind field in each cell.

    Impact and interest:

    2 citations in Scopus
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    0 citations in Web of Science®

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    ID Code: 53802
    Item Type: Conference Paper
    Additional URLs:
    Keywords: Markov Decision Processes, wind-based planning, unmanned aerial vehicle, Gaussian Processes, energy optimization
    DOI: 10.1109/ICRA.2013.6630662
    ISBN: 978-146735641-1
    ISSN: 1050-4729
    Subjects: Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Dynamical Systems in Applications (010204)
    Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Flight Dynamics (090106)
    Divisions: Current > Schools > School of Electrical Engineering & Computer Science
    Current > Institutes > Institute for Future Environments
    Current > QUT Faculties and Divisions > Science & Engineering Faculty
    Copyright Owner: Copyright 2012 The Authors
    Deposited On: 24 Sep 2012 08:31
    Last Modified: 01 May 2014 04:49

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