Energy-Optimal 3D Path Planning for MAV with Motion Uncertainty
Practical applications of microaerial vehicle face significant challenges including imprecise localization, limited on-board energy, and motion uncertainty. This paper focuses on the latter two issues. The core of proposed energy-optimal path planning algorithm is an energy consumption model derivin...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/9994680 |
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| Summary: | Practical applications of microaerial vehicle face significant challenges including imprecise localization, limited on-board energy, and motion uncertainty. This paper focuses on the latter two issues. The core of proposed energy-optimal path planning algorithm is an energy consumption model deriving from real measurements of a specific quadrotor and utilizing a 2D Gaussian distribution function to simulate the uncertainty of random drift. Based on these two models, we formulate the optimal path traversing the 3D map with minimum energy consumption using a heuristic ant colony optimization. Multiple sets of contrast experiments demonstrate the effectiveness and efficiency of the proposed algorithm. |
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| ISSN: | 1076-2787 1099-0526 |