The use of micro unmanned aerial vehicles (UAVs) have gained a lot of interests especially for smart city applications due to their three- dimensional (3D) mobility and flexibility. Path planning is one of the most important UAV problems that needs to be addressed. In this paper, we focus on determining the optimal routes for a fleet of UAVs in urban cities that minimize the total arrival time of all UAV swarms while respecting their energy consumption constraints and avoiding the risk of collision. Through a mixed integer linear program, we develop a safe navigation framework for realistic 3D maps where charging stations are made available to recharge UAV batteries on their ways to destination. Our results investigate different scenarios for selected system parameters and illustrate different collision avoidance techniques followed by the UAVs.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Optimal Collision-Free Navigation for Multi-Rotor UAV Swarms in Urban Areas


    Contributors:


    Publication date :

    2019-04-01


    Size :

    399272 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Modelling Assured Navigation of sUAS Swarms in Urban Environments

    Uijt de Haag, Maarten / Huschbeck, Svenja / Berth, Christian | IEEE | 2021


    RELATIVE NAVIGATION OF SATELLITE SWARMS

    Rajan, Raj Thilak | TIBKAT | 2020


    ATMOSPHERIC SAMPLING IN URBAN AREAS AND COMPLEX TERRAIN USING UAS SWARMS

    Cooper, J. / Neal, D. / Wekker, S. et al. | British Library Conference Proceedings | 2020


    Vision-aided Cooperative Navigation for UAV Swarms

    Vetrella, Amedeo Rodi / Fasano, Giancarmine / Accardo, Domenico | AIAA | 2016


    Computationally Efficient Collision-Free Trajectory Planning of Satellite Swarms Under Unmodeled Orbital Perturbations

    Basu, Himadri / Pedari, Yasaman / Almassalkhi, Mads et al. | AIAA | 2023

    Free access