A path-planning algorithm to guide unmanned aerial vehicles (UAVs) for tracking multiple ground targets based on the theory of partially observable Markov decision processes (POMDPs) is presented. A variety of features of interest are shown to be easy to incorporate into the framework by plugging in the appropriate models, which demonstrates the power and flexibility of the POMDP framework. Specifically, it is shown how to incorporate the following features by appropriately formulating the POMDP action space, transition law, and objective function: 1) control UAVs with both forward acceleration and bank angle subject to constraints; 2) account for the effect of wind disturbance on UAVs; 3) avoid collisions between UAVs and obstacles and among UAVs; 4) track targets while evading threats; 5) track evasive targets; and 6) mitigate track swaps.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    UAV Path Planning in a Dynamic Environment via Partially Observable Markov Decision Process


    Beteiligte:


    Erscheinungsdatum :

    01.10.2013


    Format / Umfang :

    3413513 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    UAV PATH PLANNING FOR WILDFIRE TRACKING USING PARTIALLY OBSERVABLE MARKOV DECISION PROCESS

    Shobeiry, Poorya / Xin, Ming / Hu, Xiaolin et al. | TIBKAT | 2021


    UAV Path Planning for Wildfire Tracking Using Partially Observable Markov Decision Process

    Shobeiry, Poorya / Xin, Ming / Hu, Xiaolin et al. | AIAA | 2021


    State Estimation for Mobile Robot using Partially Observable Markov Decision Process

    Kang, D. / Hashimoto, H. / Harashima, F. | British Library Online Contents | 1996


    Position validation strategies using partially observable Markov decision processes

    Kochenderfer, Mykel J. / Shih, Kevin J. / Chryssanthacopoulos, James P. et al. | IEEE | 2011

    Freier Zugriff

    Signal Source Localization Using Partially Observable Markov Decision Processes

    Dressel, Louis K. / Kochenderfer, Mykel J. | AIAA | 2015