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UAV Payload Transportation via RTDP Based Optimized Velocity Profiles

Abdullah Mohiuddin, Tarek Taha, Yahya Zweiri and Dongming Gan
Additional contact information
Abdullah Mohiuddin: Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, UAE
Tarek Taha: Algorythma’s Autonomous Aerial Lab, P.O. Box 112230, Abu Dhabi, UAE
Yahya Zweiri: Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, UAE
Dongming Gan: Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, UAE

Energies, 2019, vol. 12, issue 16, 1-25

Abstract: 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.

Keywords: UAV; energy optimization; dynamic programming; aerial transportation (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: Add references at CitEc
Citations: View citations in EconPapers (3)

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