Graph based dynamic policy for UAV navigation
Tommaso Mannucci, Erik-Jan Van Kampen, Coen C. de Visser, Q. P. Chu · 2016
Satisfying operating boundaries, in the form of an operational envelope, is a prerequisite for all real-world plants and systems, and in particular for UAVs, due to their high flight performance, distance from operator, and vast range of applications. Moreover, the envelope might change in time due to new, possibly unexpected changes in the environment or in the physical platform itself. In this paper, a unified approach for generating feasible policies online will be illustrated. The method relies on generating a directed graph that will schematically and efficiently represent changes of operating conditions of the UAV in time. Actions that lead to envelope breach are pruned in cascade. Eventually the pruned graph will indicate the allowed actions to perform to remian inside the envelope. A typical navigation task for a UAV, navigating inside a corridor varying in width and direction, will be included as proof of concept to clarify the approach.