Energy-Optimal 3D Path Planning for MAV with Motion Uncertainty

Yamin Li, Bowen Sun, Ping Xia, Yang Yang and Guanfeng Liu

Complexity, 2021, vol. 2021, 1-6

Abstract: 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.

Date: 2021
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Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:9994680

DOI: 10.1155/2021/9994680

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