RT Journal Article
T1 Path planning and collision risk management strategy for multi-UAV systems in 3D environments
A1 López Palomino, Blanca
A1 Muñoz Mendi, Javier
A1 Quevedo Vallejo, Fernando
A1 Monje Micharet, Concepción Alicia
A1 Garrido Bullón, Luis Santiago
A1 Moreno Lorente, Luis Enrique
AB Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square¿for the planning phase¿and a simple priority-based speed control¿as the method for conflict resolution¿is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs.
PB MDPI
SN 1424-8220
YR 2021
FD 2021-07-01
LK https://hdl.handle.net/10016/33926
UL https://hdl.handle.net/10016/33926
LA eng
NO This article belongs to the Special Issue Smooth Motion Planning for Autonomous Vehicles
NO This research was funded by the EUROPEAN COMMISSION: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696.
DS e-Archivo
RD 27 jul. 2024