A new utility function for smooth transition between exploration and exploitation of a wind energy field

This paper presents a new data driven utility function for an unmanned aerial vehicle (UAV) mapping and exploiting a wind field. The proposed utility function provides a continuous scale between exploration and exploitation which is dependent on the difference between the current platform energy level and the uncertainty along a planned path. Tests were carried out in a VICON testbed using quadrotors programmed to emulate fixed-wing aircraft. Results show a 47.7% reduction in energy gain loitering time when compared to a pure information gain approach.