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Energy-Optimal 3D Path Planning for MAV with Motion Uncertainty.
- Source :
- Complexity; 10/18/2021, p1-6, 6p
- Publication Year :
- 2021
-
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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 10762787
- Database :
- Complementary Index
- Journal :
- Complexity
- Publication Type :
- Academic Journal
- Accession number :
- 153071299
- Full Text :
- https://doi.org/10.1155/2021/9994680