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.

[1]  Ruwantissa Abeyratne,et al.  Convention on International Civil Aviation: A Commentary , 2013 .

[2]  Kieran Forbes Culligan,et al.  Online trajectory planning for UAVs using mixed integer linear programming , 2006 .

[3]  Alan Hobbs,et al.  Unmanned Aircraft Systems , 2010 .

[4]  Jonathan P. How,et al.  Aircraft trajectory planning with collision avoidance using mixed integer linear programming , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[5]  Oskar von Stryk,et al.  Optimal control of multi-vehicle-systems under communication constraints using mixed-integer linear programming , 2007 .

[6]  Tor Arne Johansen,et al.  Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP , 2012, J. Intell. Robotic Syst..

[7]  Kimon P. Valavanis,et al.  On unmanned aircraft systems issues, challenges and operational restrictions preventing integration into the National Airspace System , 2008 .

[8]  Kenneth Eik Review of Experiences within Ice and Iceberg Management , 2008, Journal of Navigation.

[9]  Leandro Magatão,et al.  Mixed integer linear programming and constraint logic programming: towards a unified modeling framework , 2005 .

[10]  Kjell-Sture Johansen UAV : ubemannede flygniger i lovtomt rom? , 2009 .

[11]  Jonathan P. How,et al.  Autonomous UAV guidance build-up: Flight-test demonstration and evaluation plan , 2003 .

[12]  Ian Postlethwaite,et al.  MILP AND ITS APPLICATION IN FLIGHT PATH PLANNING , 2005 .