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UAVs mission planning with imposition of flight level through fast marching square

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorGonzález Pacheco, Víctor
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.date.accessioned2023-12-05T14:36:20Z
dc.date.available2023-12-05T14:36:20Z
dc.date.issued2017-01-25
dc.description.abstractMany proposed activities to be carried out by unmanned aerial vehicles (UAVs) in urban environments require a control over the altitude for different purposes. Energy saving and minimization of costs are some of these objectives. This work presents a method to impose a flight level in a mission planning carried out by a UAV in a 3D urban environment. The planning avoids all obstacles encountered in the environment and maintains a fixed flight level in the majority of the trajectory. The method used as planner is the Fast Marching Square (FM2) method, which includes two adjustment parameters. Depending on the values of these parameters, it is possible to introduce into the planning an altitude constraint, as well as to modify the smoothness of the trajectory and the safety margins from the obstacles. Several simulated experiments have been carried out in different situations obtaining very good results.en
dc.description.sponsorshipThe research leading to these results has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.en
dc.format.extent12
dc.identifier.bibliographicCitationGonzález, V., Monje, C. A., Moreno, L., & Balaguer, C. (2017). UAVs mission planning with imposition of flight level through fast Marching Square. Cybernetics and Systems, 48(2), 102-113.en
dc.identifier.doihttps://doi.org/10.1080/01969722.2016.1263521
dc.identifier.issn0196-9722
dc.identifier.publicationfirstpage102
dc.identifier.publicationissue2
dc.identifier.publicationlastpage113
dc.identifier.publicationtitleCybernetics and Systemsen
dc.identifier.publicationvolume48
dc.identifier.urihttps://hdl.handle.net/10016/39046
dc.identifier.uxxiAR/0000019536
dc.language.isoengen
dc.publisherTaylor & Francisen
dc.relation.projectIDComunidad de Madrid. S2013/MIT-2748es
dc.rights© 2017 Informa UK Limited, trading as Taylor & Francis Groupes
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.other3D path planningen
dc.subject.otherFast marchingen
dc.subject.otherFlight levelen
dc.subject.otherMission planningen
dc.subject.otherUAVen
dc.subject.otherUnmanned aerial vehiclesen
dc.subject.otherFrontsen
dc.subject.otherCurveen
dc.titleUAVs mission planning with imposition of flight level through fast marching squareen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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