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UAV Payload Transportation via RTDP Based Optimized Velocity Profiles

Author

Listed:
  • 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
    Faculty of Science, Engineering and Computing, Kingston University London, London SW15 3DW, UK)

  • Dongming Gan

    (Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, UAE)

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.

Suggested Citation

  • Abdullah Mohiuddin & Tarek Taha & Yahya Zweiri & Dongming Gan, 2019. "UAV Payload Transportation via RTDP Based Optimized Velocity Profiles," Energies, MDPI, vol. 12(16), pages 1-25, August.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:16:p:3049-:d:255713
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    References listed on IDEAS

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    1. Ali Bin Junaid & Aleksay Konoiko & Yahya Zweiri & M. Necip Sahinkaya & Lakmal Seneviratne, 2017. "Autonomous Wireless Self-Charging for Multi-Rotor Unmanned Aerial Vehicles," Energies, MDPI, vol. 10(6), pages 1-14, June.
    2. Tommaso Campi & Silvano Cruciani & Mauro Feliziani, 2018. "Wireless Power Transfer Technology Applied to an Autonomous Electric UAV with a Small Secondary Coil," Energies, MDPI, vol. 11(2), pages 1-15, February.
    3. Thomas Levermore & M. Necip Sahinkaya & Yahya Zweiri & Ben Neaves, 2016. "Real-Time Velocity Optimization to Minimize Energy Use in Passenger Vehicles," Energies, MDPI, vol. 10(1), pages 1-18, December.
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    Cited by:

    1. Hailong Huang & Andrey V. Savkin & Wei Ni, 2020. "Energy-Efficient 3D Navigation of a Solar-Powered UAV for Secure Communication in the Presence of Eavesdroppers and No-Fly Zones," Energies, MDPI, vol. 13(6), pages 1-12, March.
    2. Maciej Podsędkowski & Rafał Konopiński & Damian Obidowski & Katarzyna Koter, 2020. "Variable Pitch Propeller for UAV-Experimental Tests," Energies, MDPI, vol. 13(20), pages 1-16, October.
    3. Hui Tang & Yulong Lei & Xingzhong Li & Yao Fu, 2019. "Numerical Investigation of the Aerodynamic Characteristics and Attitude Stability of a Bio-Inspired Corrugated Airfoil for MAV or UAV Applications," Energies, MDPI, vol. 12(20), pages 1-25, October.

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