An efficient way for path planning of cooperative autonomously soaring gliders

Cooperative Autonomous Soaring;Cooperative Control;Optimal Path Planning;Optimization

Zaman, Muhammad Aneeq Uz

关键词: Cooperative Autonomous Soaring;    Cooperative Control;    Optimal Path Planning;    Optimization;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/78547/ZAMAN-THESIS-2015.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

This thesis attempts to solve the problem of planning paths for a group of gliding UAVs performing a task. These gliders have start and goal configurations (positions and orientations) in 2-dimensional space and also a starting altitude. This can be thought of as the starting energy of the glider. The task, given to the gliders, is to visit a set of \textit{interest points} in 2-dimensions. Since the gliders start with a limited energy and are constantly losing it, the paths should be planned such that the energy lost while traveling over the paths is minimized. Moreover, exploitation of free energy present in the environment, called \textit{Autonomous Soaring}, can also be used to maximize the range of the aircraft, potentially allowing the gliders to visit even more interest points.The task of planning paths for the gliders is decoupled into two parts (i) planning the best sequence of waypoint visitation (for each glider) and, (ii) planning paths over these sequences. This decoupled approach results in increased computational efficiency of the framework.The first section of the thesis deals with assignment and sequencing of waypoints for each glider, such that the cumulative energy lost by the team of gliders is minimized. This section uses an estimate of the actual energy, spent by the gliders going from point to point. The second section deals with planning paths over this sequence of waypoints, such that the dynamic constraints of the gliders are respected and the energy lost by each glider, over the course of its mission, is minimized.Each section starts with a review of the literature relevant to that topic. The problem is formulated in a rigorous way and is followed by the proposed solution. Any theoretical guarantees which follow from the proposed solution are stated and proved. After which simulation results are presented.