Puigvert I Juan, Anna (West Virginia University), Martinez Rocamora Junior, Bernardo (West Virginia University), Pereira, Guilherme (West Virginia University)

Wind-Aware Path Optimization for an Aerobot in the Atmosphere of Venus Using Genetic Algorithms

Scheduled for presentation during the Regular Session "Path Planning II" (WeB3), Wednesday, June 7, 2023, 16:00−16:20, Room 464

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper presents a path optimization solution for an autonomous aerial robot (aerobot) in the windy atmosphere of Venus. The aircraft is required to travel from its current position to a goal position by following minimum energy paths. The approach proposed in this paper uses genetic algorithms, a heuristic search that, based on a population of initially feasible paths and a set of biologically inspired operations, finds a low-cost path. The proposed cost function accounts for energy expenditure, such as thrust or drag, and also energy accumulation, such as charging with solar panels and gains from potential energy (e.g., due to upward directional winds). Path feasibility is assured by computing local reachability regions based on the wind velocity and the maximum speed of the aerobot. The method is illustrated through a series of simulations that show our results as a function of the number of iterations and path population sizes.