Uncertainty based online planning for UAV target finding in cluttered and GPS-denied environments
Vanegas, Fernando & Gonzalez, Luis F. (2016) Uncertainty based online planning for UAV target finding in cluttered and GPS-denied environments. In IEEE Aerospace Conference 2016, 5-12 March 2016, Big Sky, Montana.
There are some scenarios in which Unmmaned Aerial Vehicle (UAV) navigation becomes a challenge due to the occlusion of GPS systems signal, the presence of obstacles and constraints in the space in which a UAV operates. An additional challenge is presented when a target whose location is unknown must be found within a confined space. In this paper we present a UAV navigation and target finding mission, modelled as a Partially Observable Markov Decision Process (POMDP) using a state-of-the-art online solver in a real scenario using a low cost commercial multi rotor UAV and a modular system architecture running under the Robotic Operative System (ROS). Using POMDP has several advantages to conventional approaches as they take into account uncertainties in sensor information. We present a framework for testing the mission with simulation tests and real flight tests in which we model the system dynamics and motion and perception uncertainties. The system uses a quad-copter aircraft with an board downwards looking camera without the need of GPS systems while avoiding obstacles within a confined area. Results indicate that the system has 100% success rate in simulation and 80% rate during flight test for finding targets located at different locations.
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|Item Type:||Conference Paper|
|Keywords:||UAV, UAS, Aerial Robot, Uncertainty Based Online Planning, Target Finding, Cluttered Environments, Remote Sensing, GPS-Denied Environments, POMDP, MPD, Partially Observable Markov Decision Processes|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
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 2016 IEEE|
|Deposited On:||14 Mar 2016 22:47|
|Last Modified:||10 Aug 2016 11:38|
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