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Authors: Anders Albert and Lars Imsland

Affiliation: Norwegian Univeristy of Science and Technology, Norway

ISBN: 978-989-758-122-9

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.

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Paper citation in several formats:
Albert, A. and Imsland, L. (2015). Mobile Sensor Path Planning for Iceberg Monitoring using a MILP Framework.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 131-138. DOI: 10.5220/0005521801310138

@conference{icinco15,
author={Anders Albert. and Lars Imsland.},
title={Mobile Sensor Path Planning for Iceberg Monitoring using a MILP Framework},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={131-138},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005521801310138},
isbn={978-989-758-122-9},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Mobile Sensor Path Planning for Iceberg Monitoring using a MILP Framework
SN - 978-989-758-122-9
AU - Albert, A.
AU - Imsland, L.
PY - 2015
SP - 131
EP - 138
DO - 10.5220/0005521801310138

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