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Mission Planner for UAV Battery Replacement

Zdeněk Bouček, Miroslav Flídr, Ondřej Straka

Abstract

The paper presents a mission planner for an autonomous unmanned aerial vehicle (UAV) battery management system. The objective of the system is to plan replacements of the UAV's battery on the static battery management stations. The plan ensures that UAVs have sufficient energy to fulfill their long-term mission, which would otherwise be impossible. The paper provides a detailed description of the mission planner and all of its components. The functionality of the planner is successfully demonstrated in simulated multi-UAV multi-station scenarios.

Mission Planner for UAV Battery Replacement

Abstract

The paper presents a mission planner for an autonomous unmanned aerial vehicle (UAV) battery management system. The objective of the system is to plan replacements of the UAV's battery on the static battery management stations. The plan ensures that UAVs have sufficient energy to fulfill their long-term mission, which would otherwise be impossible. The paper provides a detailed description of the mission planner and all of its components. The functionality of the planner is successfully demonstrated in simulated multi-UAV multi-station scenarios.
Paper Structure (10 sections, 3 equations, 6 figures, 4 tables)

This paper contains 10 sections, 3 equations, 6 figures, 4 tables.

Table of Contents

  1. Introduction
  2. Mission Planner Architecture and Components
  3. Virtual Components of System
  4. Prediction of Mission in Terms of State-of-Charge
  5. Procedures
  6. A* Implementation
  7. Evaluating Mission Planning Strategies
  8. Randomly Generated Missions
  9. Area Coverage Multi-UAV Mission in City Park
  10. Conclusion

Figures (6)

  • Figure 1: Representation of battery management system in mission planner
  • Figure 2: Diagram of the mission planning algorithm for the UAV battery replacement
  • Figure 3: Map with UAV randomly generated missions and battery station scenario
  • Figure 4: SoC of every UAV in time during randomly generated scenario
  • Figure 5: Map with UAV area coverage missions and battery station locations in city park
  • ...and 1 more figures