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Optimization-Based Spatial Positioning And Energy Management For Unmanned Aerial Vehicles, Ronald Abraham Martin

Theses and Dissertations

This research applies techniques from the field of optimization to spatial positioning and energy management in Unmanned Aerial Vehicles (UAVs). Two specific areas are treated: optimization of UAV view plans for 3D modeling of infrastructure, and trajectory optimization of solar powered high-altitude long-endurance (HALE) UAVs. Structure-from-Motion (SfM) is a computer vision technique for creating 3D models from 2D images. View planning is the process of planning image sets that will effectively model a given scene. First, a genetic algorithm based view planning approach is demonstrated. A novel terrain simulation environment is developed, and the algorithm is tested at multiple sites …