This paper describes co-operative path planning of a group of unmanned aerial vehicles (UAVs). The problem undertaken for this study is that of simultaneous arrival on target of a group of UAVs. The problem of path planning is formulated in order to produce feasible (flyable and safe) paths and the solution is divided into three phases. The first phase is that of producing flyable paths, the second is to add extra constraints to produce safe paths that do not collide with other UAV members or with known obstacles in the environment, and the third is to produce paths for simultaneous arrival. In the first phase, Dubins paths with clothoid arcs are used to produce paths for each UAV. These paths are produced using the principles of differential geometry. The second phase manipulate these paths to make them safer by meeting safety constraints: (i) to maintain minimum separation distance, (ii) to produce non-intersection of paths at equal lengths, and (iii) to fly-through intermediate way-points/poses. Finally, in the third phase, the simultaneous arrival is achieved by making all the paths equal in lengths. Some simulation results are given to illustrate the technique.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Co-operative path planning of multiple UAVs using Dubins paths with clothoid arcs


    Additional title:

    Kooperative Wegplanung bei mehreren unbemannten Luftfahrzeugen mit Hilfe von Dubin-Wegen mit Klothoidenbogen


    Contributors:

    Published in:

    Control Engineering Practice ; 18 , 9 ; 1084-1092


    Publication date :

    2010


    Size :

    9 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Path Planning of Multiple UAVs Using Dubins Sets

    Shanmugavel, Madhavan / Tsourdos, Antonios / Zbikowski, Rafal et al. | AIAA | 2005




    Cooperative Road-Network Search Planning of Multiple UAVs Using Dubins Paths

    Oh, Hyondong / Kim, Seungkeun / Tsourdos, Antonios et al. | AIAA | 2011


    Cooperative Road-Network Search Planning of Multiple UAVs Using Dubins Paths

    Oh, H. / Kim, S. / Tsourdos, A. et al. | British Library Conference Proceedings | 2011