{"id":1033,"date":"2019-02-05T10:24:34","date_gmt":"2019-02-05T09:24:34","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1033"},"modified":"2019-02-05T10:24:34","modified_gmt":"2019-02-05T09:24:34","slug":"an-application-of-mdps-to-uav-collision-free-navigation-with-an-interesting-taxonomy-of-the-state-of-the-art","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1033","title":{"rendered":"An application of MDPs to UAV collision-free navigation with an interesting taxonomy of the state-of-the-art"},"content":{"rendered":"<h4>Xiang Yu1, Xiaobin Zhou2, Youmin Zhang, <strong>Collision-Free Trajectory Generation and Tracking for UAVs Using Markov Decision Process in a Cluttered Environment<\/strong>, Journal of Intelligent &#038; Robotic Systems, 2019, 93:17\u201332 <a href=\"https:\/\/doi.org\/10.1007\/s10846-018-0802-z\" target=\"_blank\">DOI: 10.1007\/s10846-018-0802-z<\/a>.<\/h4>\n<blockquote><p>A collision-free trajectory generation and tracking method capable of re-planning unmanned aerial vehicle (UAV) trajectories can increase flight safety and decrease the possibility of mission failures. In this paper, a Markov decision process (MDP) based algorithm combined with backtracking method is presented to create a safe trajectory in the case of hostile environments. Subsequently, a differential flatness method is adopted to smooth the profile of the rerouted trajectory for satisfying the UAV physical constraints. Lastly, a flight controller based on passivity-based control (PBC) is designed to maintain UAV\u2019s stability and trajectory tracking performance. simulation results demonstrate that the UAV with the proposed strategy is capable of avoiding obstacles in a hostile environment.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Xiang Yu1, Xiaobin Zhou2, Youmin Zhang, Collision-Free Trajectory Generation and Tracking for UAVs Using Markov Decision Process in a Cluttered <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1033\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[23],"tags":[332,122,230,395],"class_list":["post-1033","post","type-post","status-publish","format-standard","hentry","category-robot-motion-planning","tag-collision-avoidance","tag-mdps","tag-robot-navigation","tag-uavs"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1033"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1033"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1033\/revisions"}],"predecessor-version":[{"id":1034,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1033\/revisions\/1034"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1033"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1033"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1033"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}