DocumentCode :
2155675
Title :
UAV optimum energy assignment using Dijkstra´s Algorithm
Author :
Economou, J.T. ; Kladis, G. ; Tsourdos, A. ; White, B.A.
Author_Institution :
Dept. of Aerosp. Power & Sensors, Cranfield Univ., Swindon, UK
fYear :
2007
fDate :
2-5 July 2007
Firstpage :
287
Lastpage :
292
Abstract :
Unmanned aerial vehicles (UAV) are becoming more autonomous, rapidly sophisticated and intelligent due to the large on-board computer power, control algorithms and sensor systems. In the research literature there is a plethora of work, which addresses systematically among other issues the UAV path planning process. Very little work however, addresses the complementary step for satisfying the on-board UAV energy constraints. In this paper, the path planning has been considered as a priori, and therefore results in a choice of optimum paths to be utilised. These optimum paths correspond to the minimum travelling ranges. In practice, aerodynamic effects such as wind disturbances on the UAV, can alter the corresponding energies of these paths. Hence in this paper the Euclidean paths are mapped to energy costs. The proposed problem setting, is solved together with the 4-zone strategy using Dijkstra´s Algorithm. The effectiveness for the proposed methodology is shown by a multi-scenario approach.
Keywords :
aerodynamics; autonomous aerial vehicles; graph theory; path planning; 4-zone strategy; Dijkstra´s algorithm; Euclidean path mapping; UAV optimum energy assignment; UAV path planning process; aerodynamic effects; energy costs; minimum travelling ranges; multiscenario approach; on-board UAV energy constraints; optimum paths; unmanned aerial vehicles; wind disturbances; Graph theory; Indexes; Planning; Radio frequency; Space stations; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
Type :
conf
Filename :
7068353
Link To Document :
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