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MOMDP modeling for UAV safe path planning in an urban environment

Delamer, Jane-Alexis and Watanabe, Yoko and Ponzoni Carvalho Chanel, Caroline MOMDP modeling for UAV safe path planning in an urban environment. (2017) In: Journées Francophones sur la Planification, la Décision et l'Apprentissage pour la conduite de systèmes (JFPDA 2017), 6 July 2017 - 7 July 2017 (Caen, France).

(Document in English)

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Official URL: https://pfia2017.greyc.fr/share/actes/JFPDA/Actes.JFPDA.2017.pdf


Path planning is a research domain very active and applied among others on autonomous vehicle such as UAV. In recent years, a lot of progress has been made on path planning under uncertainties issued by a vehicle navigation system, for example in localization or environment mapping. However, such uncertainties are often treated by the path planner in a deterministic way. That is, the navigation system's performance is deterministically given in function of the environment. This paper tackles a more complex problem of UAV safe path planning in an urbain environment, in which UAV is at risks of GPS signal occusion and obstacle collision. The key idea is to make a UAV path planning along with its navigation and guidance mode planning, where each of such mode uses different set of sensors and whose availability and performance are environment-dependent. A partial knowledge on the environment is supposed to be available, in a form of probability maps of obstacles and sensor availabilities. To solve this problem the UAV need to be well represented in the planner model and so do the associated uncertainty propagation. This paper proposes a model based on Mixed Observability Markov Decision Process (MOMDP). The proposed MOMDP model allows the planner to choose the best path-direction with the adapted sensor set for an UAV to reach a mission goal efficiently and safely. This paper only provides a MOMDP model for the planner, and the planning algorithm and preliminary results will be expected in the final paper.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):National conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited On:04 Apr 2018 10:15

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