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Path Planning Generation Algorithm for a Class of UAV Multirotor Based on State of Health of Lithium Polymer Battery

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Abstract

Nowadays, it exists path planning strategies dedicated to generate trajectories considering different navigation issues in UAV multirotors, such as 3D navigation in cluttered and uncluttered environments, obstacle avoidance, and path re-planning. Such path generators are mainly based on the dynamics associated to position and orientation of the UAV, and the attenuation of external disturbances as the wind. However, one of the main limitations of these methods is that they do not take into account the relationship between the path planning task and the energy consumption associated with the battery performance or State of Health (SoH). In this work, a path planning generation algorithm that take into account the evolution of the battery performance is presented. First, the computation of the battery SoH is realized by introducing two degradation models. Subsequently, the path planning algorithm is defined as a multi-objective optimization problem where the objective is to find a feasible trajectory between way-points whiles minimizing the energy consumed and the mission final time depending on the variation of the battery SoH. Finally, the proposed path planning algorithm is compared with a classical path generation method based on polynomial functions to evaluate the minimization of the energy consumption. The simulation results demonstrate that the proposed path planning algorithm is able to generate feasible and minimum energy trajectories despite the constraints in the battery SoH.

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Acknowledgements

Ricardo Schacht Rodríguez acknowledges the economic support provided by Consejo Nacional de Ciencia y Tecnología (CONACyT) through doctoral scholarship program.

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Authors and Affiliations

  1. Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico (cenidet), Cuernavaca, Morelos, México

    R. Schacht-Rodríguez, C.-D. García-Beltrán & C.-M. Astorga-Zaragoza

  2. Centre de Recherche en Automatique de Nancy (CRAN - CNRS UMR 7039), Université de Lorraine, Vandoeuvre-Les-Nancy, France

    R. Schacht-Rodríguez, J.-C. Ponsart & D. Theilliol

  3. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec, H3G 1M8, Canada

    Y. Zhang

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  1. R. Schacht-Rodríguez
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  2. J.-C. Ponsart
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  3. C.-D. García-Beltrán
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  4. C.-M. Astorga-Zaragoza
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  5. D. Theilliol
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  6. Y. Zhang
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Correspondence to J.-C. Ponsart.

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This work was supported by CONACyT (Consejo Nacional de Ciencia y Tecnología.

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Schacht-Rodríguez, R., Ponsart, JC., García-Beltrán, CD. et al. Path Planning Generation Algorithm for a Class of UAV Multirotor Based on State of Health of Lithium Polymer Battery. J Intell Robot Syst 91, 115–131 (2018). https://doi.org/10.1007/s10846-018-0870-0

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  • DOI: https://doi.org/10.1007/s10846-018-0870-0

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