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Volume 12
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Article

UAV Payload Transportation via RTDP Based Optimized Velocity Profiles

by
Abdullah Mohiuddin
1,*,
Tarek Taha
2,
Yahya Zweiri
1,3 and
Dongming Gan
1
1
Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, UAE
2
Algorythma’s Autonomous Aerial Lab, P.O. Box 112230, Abu Dhabi, UAE
3
Faculty of Science, Engineering and Computing, Kingston University London, London SW15 3DW, UK
*
Author to whom correspondence should be addressed.
Energies 2019, 12(16), 3049; https://doi.org/10.3390/en12163049
Submission received: 9 June 2019 / Revised: 10 July 2019 / Accepted: 12 July 2019 / Published: 8 August 2019
(This article belongs to the Special Issue Modelling of Aerospace Vehicle Dynamics)
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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.
Keywords: UAV; energy optimization; dynamic programming; aerial transportation UAV; energy optimization; dynamic programming; aerial transportation

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MDPI and ACS Style

Mohiuddin, A.; Taha, T.; Zweiri, Y.; Gan, D. UAV Payload Transportation via RTDP Based Optimized Velocity Profiles. Energies 2019, 12, 3049. https://doi.org/10.3390/en12163049

AMA Style

Mohiuddin A, Taha T, Zweiri Y, Gan D. UAV Payload Transportation via RTDP Based Optimized Velocity Profiles. Energies. 2019; 12(16):3049. https://doi.org/10.3390/en12163049

Chicago/Turabian Style

Mohiuddin, Abdullah, Tarek Taha, Yahya Zweiri, and Dongming Gan. 2019. "UAV Payload Transportation via RTDP Based Optimized Velocity Profiles" Energies 12, no. 16: 3049. https://doi.org/10.3390/en12163049

APA Style

Mohiuddin, A., Taha, T., Zweiri, Y., & Gan, D. (2019). UAV Payload Transportation via RTDP Based Optimized Velocity Profiles. Energies, 12(16), 3049. https://doi.org/10.3390/en12163049

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