Uncertainty based online planning for UAV missions in GPS-denied and cluttered environments
Vanegas Alvarez, Fernando (2017) Uncertainty based online planning for UAV missions in GPS-denied and cluttered environments. PhD thesis, Queensland University of Technology.
Description
This research is a novel approach to enabling Unmanned Aerial Vehicle (UAV) navigation and target finding and tracking missions under uncertainty in cluttered and GPS-denied environments. A novel framework, implemented as a modular system, formulates the missions as online Partially Observable Markov Decision Processes (POMDP). The online POMDP computes a motion policy that balances multiple mission objectives optimally. The motion policy is updated while flying based onboard sensor observations. This research provides an enabling technology for UAV missions such as search and rescue, biodiversity assessment, underground mining and infrastructure inspection in challenging and natural environments.
Impact and interest:
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| ID Code: | 103846 |
|---|---|
| Item Type: | QUT Thesis (PhD) |
| Supervisor: | Gonzalez, Felipe & Campbell, Duncan A. |
| Keywords: | UAV, Online POMDP, Motion Planning, Uncertainty, Navigation, Target Finding, Target Tracking, GPS-denied, Cluttered Environment, Planning horizon |
| DOI: | 10.5204/thesis.eprints.103846 |
| Divisions: | Past > QUT Faculties & Divisions > Science & Engineering Faculty Past > Schools > School of Electrical Engineering & Computer Science |
| Institution: | Queensland University of Technology |
| Deposited On: | 15 Mar 2017 09:02 |
| Last Modified: | 16 Jan 2025 00:52 |
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