Blakesley, A;
Anvari, Bani;
Krol, J;
Bell, MGH;
(2022)
Minimum energy route optimisation of a quad-copter UAV with landing incentivisation.
In:
Proceedings of the 25th International Conference on Intelligent Transportation Systems (ITSC) IEEE 2022.
(pp. pp. 2300-2306).
IEEE
Preview |
Text
Anvari_Minimum energy route optimisation of a quad-copter UAV with landing incentivisation_AAM.pdf Download (6MB) | Preview |
Abstract
Recent advancements in the technology surrounding UAVs have expanded the possibility of incorporating them into current logistical solutions. In order to accurately assess their capabilities, it is important that minimum energy trajectories can be generated to increase the travel range of a UAV as well as its possible number of visited locations. However, in current formulations of the optimisation problem, UAV dynamics do not incorporate a contact force on the ground. This results in hover-to-hover trajectories where the duration of the journey is exactly equal to an arrival time which is set as one of the problem's parameters. Those solutions are likely to be energetically sub-optimal if an unnecessarily large value of arrival time is chosen. This paper introduces landing capability by modifying gravitational acceleration in the dynamics using a sigmoid function which approaches zero at the destination. In this way, the trip can be conducted in a shorter amount of time if it results in lower energy consumption. The new model is compared against an example from the literature, where the corresponding solution results in a reduction of the travel time and energy consumption by approximately 80%. It is also applied to a real-world example where it is demonstrated that a UAV can provide energy savings if it replaces a van completing a delivery in the Solent region of the UK.
| Type: | Proceedings paper |
|---|---|
| Title: | Minimum energy route optimisation of a quad-copter UAV with landing incentivisation |
| Event: | The 25th International Conference on Intelligent Transportation Systems (ITSC) |
| ISBN-13: | 978-1-6654-6880-0 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ITSC55140.2022.9922101 |
| Publisher version: | https://doi.org/10.1109/ITSC55140.2022.9922101 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10150483 |
Loading...
Loading...Loading...Loading...Archive Staff Only
 |
View Item |
