Coordinated guidance of autonomous uavs via nominal belief-state optimization
Scott A. Miller, Zachary A. Harris, Edwin K. P. Chong · 2009
We apply the theory of partially observable Markov decision processes (POMDPs) to the design of guidance algorithms for controlling the motion of unmanned aerial vehicles (UAVs) with on-board sensors for tracking multiple ground targets. While POMDPs are intractable to optimize exactly, principled approximation methods can be devised based on Bellman's principle.We introduce a new approximation method called nominal belief-state optimization (NBO). We show that NBO, combined with other application-specific approximations and techniques within the POMDP framework, produces a practical design that coordinates the UAVs to achieve good long-term mean-squared-error tracking performance in the presence of occlusions and dynamic constraints.