This paper presents a new system which automatically identifies conflicts between multiple UAVs (Unmanned Aerial Vehicles) and proposes the most effective solution considering the available computation time. The system detects conflicts using an algorithm based on axis-aligned minimum bounding box and resolves them cooperatively using a collision-free trajectory planning algorithm based on a simple one-at-a-time strategy to quickly compute a feasible but non-optimal initial solution and a stochastic optimization technique named Particle Swarm Optimization (PSO) to improve the initial solution. PSO modifies the 4D trajectories of the UAVs with an overall minimum cost. Determining optimal trajectories with short time intervals during the execution of the mission is not feasible, hence an anytime approach using PSO is applied. This approach yields trajectories whose quality improves when available computation time increases. Thus, the method could be applied in realtime depending on the available computation time. The method has been validated with simulations in scenarios with multiple UAVs in a common workspace.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Particle Swarm Optimization for collision-free 4D trajectory planning in Unmanned Aerial Vehicles


    Beteiligte:
    Alejo, D. (Autor:in) / Cobano, J. A. (Autor:in) / Heredia, G. (Autor:in) / Ollero, A. (Autor:in)


    Erscheinungsdatum :

    01.05.2013


    Format / Umfang :

    428544 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Three-Dimensional Path Planning of Unmanned Aerial Vehicles Using Particle Swarm Optimization

    Foo, J. / Knutzon, J. / Oliver, J. et al. | British Library Conference Proceedings | 2006


    Three-Dimensional Path Planning of Unmanned Aerial Vehicles Using Particle Swarm Optimization

    Foo, Jung Leng / Knutzon, Jared / Oliver, James et al. | AIAA | 2006


    Path Planning of Unmanned Aerial Vehicles using B-Splines and Particle Swarm Optimization

    Foo, Jung Leng / Knutzon, Jared / Kalivarapu, Vijay et al. | AIAA | 2009


    Trajectory planning with mid-air collision avoidance for quadrotor unmanned aerial vehicles

    Jiang, Yuhang / Hu, Shiqiang / Damaren, Christopher J | SAGE Publications | 2022