Energy-Aware Navigation and Guidance Algorithms for Unmanned Aerial Vehicles
Energy-Aware Navigation and Guidance Algorithms for Unmanned Aerial Vehicles
复制标题
无人机能量感知导航和制导算法
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
Zdenek Hanz´lek
中科院分区：
文献类型：
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作者：
Ondrej pinka;Zdenek Hanz´lek
本文提出了两种解决车辆导航与引导问题的方法，并着重对这两种方法的性能和能耗进行了评价。一个简单的能量感知计算方案，旨在控制，导航和引导的自主无人驾驶飞机，提出了尽量利用这两种方法-提供良好的跟踪精度，在需要时，否则最大限度地减少功耗。该方案的基本思想是尽可能使用简单、要求不高的算法，只有在使命要求时才改用复杂、更精确的控制方法。简单的算法可以在计算能力较低的模块中执行，允许高性能的机载计算机（实时执行复杂任务所需的）暂停，从而节省能源。该方案可能会带来明显的好处，特别是对于微型无人机类别的车辆，其中可用能量的数量非常有限，机载计算机消耗的能量部分可能很大（根据我们的测量，高达20%）。
This paper presents two ways of how to tackle a problem of vehicle navigation and guidance, and focuses on evaluation of the performance and energy consumption of both methods. A simple energy-aware computing scheme, intended for control, navigation and guidance of autonomous unmanned aircraft, is proposed to try to make the most of both methods - providing good tracking accuracy whenever needed, minimizing power consumption otherwise. This scheme is based on the idea of using simple, non-demanding algorithms whenever possible and switching to sophisticated, more accurate control methods only when required by the mission profile. Simple algorithms may be executed in modules with less computing power, allowing high-performance on-board computers (needed for real-time execution of complex tasks) to be suspended, thus conserving energy. This scheme might bring noticeable benefits especially for vehicles in the micro-UAV category, where the amount of usable energy is extremely limited and the portion of energy consumed by on-board computers might be significant (up to 20%, according our measurements).