Abstract:
Majority of an autonomous Unmanned
Aerial Vehicles (UAV) are currently operated by user
or follow a pre-programmed flight path. The
development of artificial intelligence (AI) technology
forces development of dynamic mission planning/replanning
algorithms capable of autonomous flight
and real-time reaction to dynamically changing
physical environment. The purpose of this research is
a development of a real-time mission planner for
UAV by using improved Anytime Dynamic A*
(iADA*) algorithm which is unable to find the best
path with the given the available time to replan paths
sufficiently and safety for real-time operation in the
simulation-based environment. A Markov Decision
Process (MDP) models which is AI tool will use as a
decision-making process for consider which mission
should go first depend on the cost of the path length.
The efficiency of the proposed approach will be
evaluating in a simulation environment considering
UAV dynamic parameters.
