Development of Flight Mission Planner using Intelligent Anytime Planning and Replanning Algorithm for UAV Operation

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.