Authors:
Anders Albert
and
Lars Imsland
Affiliation:
Norwegian Univeristy of Science and Technology, Norway
Keyword(s):
Optimization, Path Planning, UAV, UAS.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Autonomous Agents
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Optimization Algorithms
;
Planning and Scheduling
;
Robotics and Automation
;
Simulation and Modeling
;
Symbolic Systems
;
Vehicle Control Applications
Abstract:
We look at the task of iceberg monitoring using a single mobile sensor, and we suggest a modular framework
for this. The focus is on path planning for which we come up with a novel strategy, which includes solving
a static optimization problem often to account for changes. We formulate the optimization problem in a
MILP framework, and we illustrate how this yields acceptable computational time for problem size of about
15 icebergs. We also suggest a tuning rule for weighting between different objectives in the optimization
formulation, which we demonstrate in simulations. Initializing the optimization with the previous solution
can improve computational time dramatically. Finally, we discuss how we easily can add extra features to our
framework.