Markov Decision Process-based Potential Field Technique for UAV Planning

被引：0

作者：

Moon, Chaehwan ^{[1
]}

Ahn, Jaemyung ^{[1
]}

机构：

[1] Korea Adv Sci Inst Technol, Dept Aerosp Engn, Daejeon 34141, South Korea

来源：

JOURNAL OF THE KOREAN SOCIETY FOR INDUSTRIAL AND APPLIED MATHEMATICS | 2021年 / 25卷 / 04期

关键词：

Markov decision process(MDP); Sequential decision-making process; Potential field algorithm; Artificial potential field(APF); Mission planning;

D O I：

10.12941/jksiam.2021.25.149

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

This study proposes a methodology for mission/path planning of an unmanned aerial vehicle (UAV) using an artificial potential field with the Markov Decision Process (MDP). The planning problem is formulated as an MDP. A low-resolution solution of the MDP is obtained and used to define an artificial potential field, which provides a continuous UAV mission plan. A numerical case study is conducted to demonstrate the validity of the proposed technique.

引用

页码：149 / 161

页数：13

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