UAV Payload Transportation via RTDP Based Optimized Velocity Profiles

This paper explores the application of a real-time dynamic programming (RTDP) algorithm to transport a payload using a multi-rotor unmanned aerial vehicle (UAV) in order to optimize journey time and energy consumption. The RTDP algorithm is developed by discretizing the journey into distance interva...

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Vydáno v:Energies (Basel) Ročník 12; číslo 16; s. 3049
Hlavní autoři: Mohiuddin, Abdullah, Taha, Tarek, Zweiri, Yahya, Gan, Dongming
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 08.08.2019
Témata:
aerial transportation
Aircraft
Cost control
Drones
Dynamic programming
Energy consumption
Energy efficiency
energy optimization
Experiments
Helicopters
International conferences
Optimization algorithms
Optimization techniques
Planning
Researchers
UAV
Unmanned aerial vehicles
Vehicles
Velocity
New Zealand
United Arab Emirates
United Kingdom > UK
United States > US
Abu Dhabi United Arab Emirates
ISSN:1996-1073, 1996-1073
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Shrnutí:This paper explores the application of a real-time dynamic programming (RTDP) algorithm to transport a payload using a multi-rotor unmanned aerial vehicle (UAV) in order to optimize journey time and energy consumption. The RTDP algorithm is developed by discretizing the journey into distance interval horizons and applying the RTDP sweep to the current horizon to get the optimal velocity decision. RTDP sweep requires the current state of the UAV to generate the next best velocity decision. To the best of the authors knowledge, this is the first time that such real-time optimization algorithm is applied to multi-rotor based transportation. The algorithm was first tested in simulations and then experiments were performed. The results show the effectiveness and applicability of the proposed algorithm.
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ISSN:1996-1073
1996-1073
DOI:10.3390/en12163049