Cooperative Unmanned aerial vehicles (UAVs) have been widely employed as effective tools for various information-gathering tasks in complex environments with increased efficiency and resiliency. The mission-level guidance and control of UAVs often depend on an accurate map and inaccurate maps may lead to the UAV's inappropriate accommodation to the environment. In this paper, we propose a new framework to generate and utilize semantic map information, which we defined as risk factors for cooperative UAVs. First, we generate a high-precision panorama as a global map by mosaicking a bird's-eye atlas. Afterward, we build a semantic map based on a neural network. Finally, we utilize the semantic information-enhanced map to guide the path-planning functions. Experiments show that our proposed method can improve the success rate of planning in the outdoor scene, and demonstrate its efficiency.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Semantic Information Based Path Planning for Cooperative UAV Systems


    Beteiligte:
    Wang, Zhiwei (Autor:in) / Zhao, Chunhui (Autor:in) / Lyu, Yang (Autor:in) / Liu, Huixia (Autor:in) / Hu, Jinwen (Autor:in) / Hou, Xiaolei (Autor:in)


    Erscheinungsdatum :

    2022-12-02


    Format / Umfang :

    6550718 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    UAV cooperative path planning

    Chandler, P. / Rasmussen, S. / Pachter, M. | AIAA | 2000


    UAV Cooperative Path Planning

    Chandler, P. R. / Ramussen, S. / Pachter, M. et al. | British Library Conference Proceedings | 2000


    Cooperative path planning of multi-missiles

    Gao-yang, Yin / Shao-lei, Zhou / Shi, Yan | IEEE | 2014


    Multi-UAV Cooperative Path Planning Based on Aquila Optimizer

    Huang, Hanqiao / Li, Haoran / Wang, Meng et al. | Springer Verlag | 2023


    Cooperative coverage path planning for visual inspection

    Mansouri, Sina Sharif / Kanellakis, Christoforos / Fresk, Emil et al. | BASE | 2018

    Freier Zugriff