NDLI: Optimal path planning of a target-following fixed-wing UAV using sequential decision processes

Content Provider	IEEE Xplore Digital Library
Author	Baek, S.S. Hyukseong Kwon Yoder, J.A. Pack, D.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. & Comput. Eng., United States Air Force Acad. (USAFA), CO, USA (Baek, S.S.; Hyukseong Kwon; Yoder, J.A.) \|\| Dept. of Electr. & Comput. Eng., Univ. of Texas, San Antonio, TX, USA (Pack, D.)
Abstract	In this work, we consider the optimal path of a fixed-wing unmanned aerial vehicle (UAV) tracking a mobile surface target. One of the limitations of fixed-wing UAVs in tracking mobile targets is the lack of hovering capability when the target moves much slower than the minimum UAV speed, requiring the UAV maintain an orbit about the target. In this paper, we propose a method to find the optimal policy for fixed-wing UAVs to minimize the location uncertainty of a mobile target. Using a grid-based Markov Decision Process (MDP), we use an off-line policy iteration algorithm to find an optimal UAV path in a coarse discretized state space, followed by an on-line policy iteration algorithm that applies a finer grid MDP to the region of interest to find the final optimal UAV trajectory. We validate the proposed algorithm using computer simulations. Comparing the simulation results with other methods, we show that the proposed method has up to 13% decrease in error uncertainty than ones resulted using conventional methods.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2955
Ending Page	2962
File Size	296830
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696775
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Path planning Uncertainty Mobile communication Markov processes Vectors
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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