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Probabilistic Roadmaps And Ant Colony Optimization For UAV Mission Planning

Adolf, Florian-Michael and Langer, Augusto and de Melo Pontes e Silva, Lucas and Thielecke, Frank (2007) Probabilistic Roadmaps And Ant Colony Optimization For UAV Mission Planning. In: 6th IFAC Symposium on Intelligent Autonomous Vehicles. Elsevier Science Ltd, Oxford, UK. 6th IFAC Symposium on Intelligent Autonomous Vehicles, 2007-09-03 - 2007-09-05, Toulouse, France.

Full text not available from this repository.

Official URL: http://www.elsevier.com/locate/ifac

Abstract

This paper presents a two-tiered approach to mission planning based on Probabilistic Roadmaps for path planning and Ant Colony Optimization for task planning. The path planner searches paths in a finite, obstacle-constrained three dimensional space whereas the task planner determines a near optimal task order for a set of tasks and a group of heterogeneous agents. The mission planning system is employed in an unmanned helicopter project that researches on intelligent technologies for small, low-altitude aerial vehicles. Results from simulation experiments demonstrate the feasibility of combining a dedicated path planner with a task planner.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Probabilistic Roadmaps And Ant Colony Optimization For UAV Mission Planning
Authors:
AuthorsInstitution or Email of Authors
Adolf, Florian-MichaelUNSPECIFIED
Langer, AugustoUNSPECIFIED
de Melo Pontes e Silva, LucasUNSPECIFIED
Thielecke, FrankUNSPECIFIED
Date:5 September 2007
Journal or Publication Title:6th IFAC Symposium on Intelligent Autonomous Vehicles
Refereed publication:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:Elsevier Science Ltd, Oxford, UK
Status:Published
Keywords:Intelligent Autonomous Vehicles, UAV, Multiple Vehicle Systems, ARTIS
Event Title:6th IFAC Symposium on Intelligent Autonomous Vehicles
Event Location:Toulouse, France
Event Type:international Conference
Event Dates:2007-09-03 - 2007-09-05
Organizer:LAAS-CNRS
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignement
DLR - Research theme (Project):L -- no assignement
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Florian-Michael Adolf
Deposited On:07 Jan 2008
Last Modified:18 Feb 2010 11:23

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