UAV/UAS path planning for ice management information gathering
The key objective of this work is the proposition of the path planning strategy for unmanned aerial vehicle (UAV) intended for information gathering in Arctic environments / ice-infested regions. Two diﬀerent path planning strategies are considered; one for analysis of the surveillance area deﬁned as a grid and the other for analysis of the surveillance area deﬁned as a sector. The mixed integer linear programming (MILP), YALMIP modeling language and GUROBI optimizer are used for formulation and solution of the path planning optimization problems. Furthermore, both path planning strategies are tested for the cases of constant and variable ice ﬂow, respectively; the following are investigated in each simulation case: ﬂight path of the UAV, coverage of the surveillance area, speed and acceleration of the UAV and the solver-time. Moreover, throughout this work only a planar motion is considered, with one single UAV used in each simulation case.
Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2011. , 106 p.
ntnudaim:5944, MTTK teknisk kybernetikk, Reguleringsteknikk
IdentifiersURN: urn:nbn:no:ntnu:diva-13232Local ID: ntnudaim:5944OAI: oai:DiVA.org:ntnu-13232DiVA: diva2:435640
Imsland, Lars, Professor