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University of Western Ontario

1. Gugan, Gopi. Developing a Resource and Energy Efficient Real-time Delivery Scheduling Framework for a Network of Autonomous Drones.

Degree: 2021, University of Western Ontario

The use of unmanned aerial vehicles (UAV) or drones appears to be a viable, low-cost solution to problems in many applications. However, the limited onboard computing resources and battery capacity make it challenging to deploy drones for long-distance missions. Path planning capabilities are essential for autonomous control systems. An autonomous drone must be able to rapidly compute feasible, energy-efficient paths to avoid collisions. We first evaluate existing sampling-based algorithms' performance and present a hybrid sampling-based algorithm to generate a solution quicker, using less memory. We then introduce the notion of a layered graph, which accurately and efficiently models the search environment. Simulations show that when applying a modified A* algorithm on the layered graph, paths can be generated at least twice as fast, using significantly less memory than the sampling-based algorithm. Finally, we propose a novel cell-based model that uses a network of drones to perform long-range tasks such as last-mile deliveries. Drone charging stations are strategically placed to ensure that drones can replenish their batteries. The genetic algorithm was implemented to solve the scheduling problem for multiple drones using this model. We show that this model can be used to deliver many packages within a short amount of time.

Subjects/Keywords: UAV; Autonomous Drones; Path Planning Problem; Drone Delivery

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Gugan, G. (2021). Developing a Resource and Energy Efficient Real-time Delivery Scheduling Framework for a Network of Autonomous Drones. (Thesis). University of Western Ontario. Retrieved from https://ir.lib.uwo.ca/etd/7613

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Gugan, Gopi. “Developing a Resource and Energy Efficient Real-time Delivery Scheduling Framework for a Network of Autonomous Drones.” 2021. Thesis, University of Western Ontario. Accessed March 01, 2021. https://ir.lib.uwo.ca/etd/7613.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Gugan, Gopi. “Developing a Resource and Energy Efficient Real-time Delivery Scheduling Framework for a Network of Autonomous Drones.” 2021. Web. 01 Mar 2021.

Vancouver:

Gugan G. Developing a Resource and Energy Efficient Real-time Delivery Scheduling Framework for a Network of Autonomous Drones. [Internet] [Thesis]. University of Western Ontario; 2021. [cited 2021 Mar 01]. Available from: https://ir.lib.uwo.ca/etd/7613.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Gugan G. Developing a Resource and Energy Efficient Real-time Delivery Scheduling Framework for a Network of Autonomous Drones. [Thesis]. University of Western Ontario; 2021. Available from: https://ir.lib.uwo.ca/etd/7613

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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