UAVs are becoming ubiquitous due to their high-risk mission acceptance and ultra-long endurance capabilities. However, because a significant subset of UAVs have limited payload capacity and sensor ranges, teams of UAVs are often required to operate cooperatively in executing specific tasks (e.g., time-critical complex surveillance tasks requiring multiple UAVs) to ensure superior mission performance. In this paper, we model a coordinated path planning problem for a team of UAVs within a dynamic mission scenario that requires them to cooperatively execute time-critical mission tasks in the presence of manned aircraft. The problem is formulated as a multi-objective optimization problem and, more specifically, as a Mixed Integer Linear Programming problem. A major contribution of this paper lies in coordinating multiple UAVs to synchronize their arrival at locations requiring cooperative execution of mission tasks, while allowing for loitering en-route to avoid collisions and for maintaining a safe separation distance from manned aircraft or other obstacles. We solve this problem via a two-phase process. In phase I, we determine the path for each UAV by minimizing the cumulative mission risk; in phase II, we determine the arrival time of each UAV at every task location by following the path generated in phase I that minimizes the task latency to meet the specified deadlines.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Multi-Objective Coordinated Path Planning for a Team of UAVs in a Dynamic Environment


    Beteiligte:
    M. Mishra (Autor:in) / X. Han (Autor:in) / D. Sidoti (Autor:in) / D. F. Ayala (Autor:in) / W. An (Autor:in)

    Erscheinungsdatum :

    2014


    Format / Umfang :

    20 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





    Multi-Objective Design and Path Planning Optimization of Unmanned Aerial Vehicles (UAVs)

    Rudnick-Cohen, Eliot S. / Azarm, Shapour / Herrmann, Jeffrey | AIAA | 2015


    3D Dubins Sets Based Coordinated Path Planning for Swarm of UAVs

    Shanmugavel, Madhavan / Tsourdos, Antonios / White, Brian et al. | AIAA | 2006


    Resource manager for an autonomous coordinated team of UAVs

    Smith, James F. / Nguyen, Thanh Vu H. | SPIE | 2006