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Thesis_Fei_Chen.pdf (35.84 MB)

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Autonomous Mission Planning for Multi-Terrain Solar-Powered Unmanned Ground Vehicles

Chen, Fei
http://rave.ohiolink.edu/etdc/view?acc_num=osu1554387780484243

Abstract Details

2019, Master of Science, Ohio State University, Mechanical Engineering.
This thesis investigates a metaheuristic optimization method to solve a mission planning problem which requires the solar-powered unmanned ground vehicle (UGV) to frequently visit multiple assigned points in outdoor environment with a desired performance index. The mission planning problem can be decoupled into two parts: a) a decision-making problem of the visiting sequence, which can be formulated as a traveling salesman problem; b) a motion planning problem for the entire mission with complex constraints. The major difficulty of solving this problem comes from the time-varying outdoor environment, the energy constraint, multiple terrain types and mixed-type decision variables. In order to solve the problem effectively and efficiently, a hybrid cascaded heuristic optimization algorithm is developed to generate an optimized motion plan such that the objective function is minimized under constraints. To obtain the environmental information, a solar irradiance map of the operational area is constructed from satellite images at the beginning and an initial path is generated using the proposed algorithm. In the following repeated routes through the operational area, the updated solar irradiance map built from on-board camera images will be applied to provide more accurate environmental information for the re-planned path, such that the UGV could have better performance of the assigned mission. Experiments in outdoor environment were conducted to validate the methods presented in a structured, highly-explored region to achieve energy sustainable mission.
Ran Dai (Advisor)
Wei Zhang (Committee Member)
56 p.
Robotics
solar-powered UGV; path planning; energy-aware optimization; particle swarm optimization

Recommended Citations

Citations

  • Chen, F. (2019). Autonomous Mission Planning for Multi-Terrain Solar-Powered Unmanned Ground Vehicles [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1554387780484243

    APA Style (7th edition)

  • Chen, Fei. Autonomous Mission Planning for Multi-Terrain Solar-Powered Unmanned Ground Vehicles. 2019. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1554387780484243.

    MLA Style (8th edition)

  • Chen, Fei. "Autonomous Mission Planning for Multi-Terrain Solar-Powered Unmanned Ground Vehicles." Master's thesis, Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1554387780484243

    Chicago Manual of Style (17th edition)

osu1554387780484243
191
© 2019, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.
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