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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.
Highlights
Unmanned aerial vehicles (UAVs) have been widely used by researchers, security and law enforcement agencies, search and rescue operators, firefighters, farmers, filmmakers, photographers and delivery companies
A real-time dynamic programming algorithm is proposed for achieving energy efficient motion for aerial UAV transportation
The cost function is the weighted sum of the energy cost and journey time cost
Summary
Unmanned aerial vehicles (UAVs) have been widely used by researchers, security and law enforcement agencies, search and rescue operators, firefighters, farmers, filmmakers, photographers and delivery companies. Motivated by the potential of UAV based payload transportation, we have investigated the possibility of applying a real-time multi-criteria optimization approach. Continuous improvement of the computational capabilities and reduction of the size of computational platforms have allowed for installing them on-board small UAVs. dynamic programming based optimization techniques can be applied for controlling UAVs. the contribution of this paper is the development, numerical and hardware testing of a real-time dynamic programming algorithm for achieving velocity optimized energy efficient aerial transportation using a multi-rotor platform. A cage surrounds the multi-rotor, which adds to the parasitic drag [18] It can be inferred from previous studies that energy efficiency can be increased by incorporating the aerodynamic factors and making velocity decisions that result in less overall energy consumption.
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