Bi-level programming based real-time path planning for unmanned aerial vehicles

2013 ◽  
Vol 44 ◽  
pp. 34-47 ◽  
Author(s):  
Wei Liu ◽  
Zheng Zheng ◽  
Kai-Yuan Cai
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Time Path ◽  
Aerial Vehicles

scholarly journals Distributed Detect-and-Avoid for Multiple Unmanned Aerial Vehicles in National Air Space

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Mohammad Sarim ◽  
Mohammadreza Radmanesh ◽  
Matthew Dechering ◽  
Manish Kumar ◽  
Ravikumar Pragada ◽  
...  
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Precision Agriculture ◽  
Traffic Management ◽  
Mixed Integer ◽  
Dynamic Constraints ◽  
Aerial Vehicles ◽  
Package Delivery ◽  
Feasible Solutions

Small unmanned aerial vehicles (UAVs) have the potential to revolutionize various applications in civilian domain such as disaster management, search and rescue operations, law enforcement, precision agriculture, and package delivery. As the number of such UAVs rise, a robust and reliable traffic management is needed for their integration in national airspace system (NAS) to enable real-time, reliable, and safe operation. Management of UAVs traffic in NAS becomes quite challenging due to issues such as real-time path planning of large number of UAVs, communication delays, operational uncertainties, failures, and noncooperating agents. In this work, we present a novel UAV traffic management (UTM) architecture that enables the integration of such UAVs in NAS. A combined A*–mixed integer linear programming (MILP)-based solution is presented for initial path planning of multiple UAVs with individual mission requirements and dynamic constraints. We also present a distributed detect-and-avoid (DAA) algorithm based on the concept of resource allocation using a market-based approach. The results demonstrate the scalability, optimality, and ability of the proposed approach to provide feasible solutions that are versatile in dynamic environments.

scholarly journals Online path planning for unmanned aerial vehicles to maximize instantaneous information

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110103
Author(s):  
Halit Ergezer ◽  
Kemal Leblebicioğlu
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Optimization Problem ◽  
Time Window ◽  
Task Assignment ◽  
Planning Horizon ◽  
Basic Structure ◽  
Aerial Vehicles ◽  
Planning Algorithm

In this article, an online path planning algorithm for multiple unmanned aerial vehicles (UAVs) has been proposed. The aim is to gather information from target areas (desired regions) while avoiding forbidden regions in a fixed time window starting from the present time. Vehicles should not violate forbidden zones during a mission. Additionally, the significance and reliability of the information collected about a target are assumed to decrease with time. The proposed solution finds each vehicle’s path by solving an optimization problem over a planning horizon while obeying specific rules. The basic structure in our solution is the centralized task assignment problem, and it produces near-optimal solutions. The solution can handle moving, pop-up targets, and UAV loss. It is a complicated optimization problem, and its solution is to be produced in a very short time. To simplify the optimization problem and obtain the solution in nearly real time, we have developed some rules. Among these rules, there is one that involves the kinematic constraints in the construction of paths. There is another which tackles the real-time decision-making problem using heuristics imitating human-like intelligence. Simulations are realized in MATLAB environment. The planning algorithm has been tested on various scenarios, and the results are presented.

scholarly journals Occlusion-Aware UAV Path Planning for Reconnaissance and Surveillance

Drones ◽  
2021 ◽  
Vol 5 (3) ◽  
pp. 98
Author(s):  
Jian Zhang ◽  
Hailong Huang
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Traveling Salesman Problem ◽  
Search And Rescue ◽  
Traveling Salesman ◽  
Complex Environments ◽  
Aerial Vehicles ◽  
Wide Range ◽  
The Traveling Salesman Problem

Unmanned Aerial Vehicles (UAVs) have become necessary tools for a wide range of activities including but not limited to real-time monitoring, surveillance, reconnaissance, border patrol, search and rescue, civilian, scientific and military missions, etc. Their advantage is unprecedented and irreplaceable, especially in environments dangerous to humans, for example, in radiation or pollution-exposed areas. Two path-planning algorithms for reconnaissance and surveillance are proposed in this paper, which ensures every point on the target ground area can be seen at least once in a complete surveillance circle. Moreover, the geometrically complex environments with occlusions are considered in our research. Compared with many existing methods, we decompose this problem into a waypoint-determination problem and an instance of the traveling-salesman problem.

Cooperative Path Planning of Unmanned Aerial Vehicles

2010 ◽  
Author(s):  
Antonios Tsourdos ◽  
Brian White ◽  
Madhavan Shanmugavel
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Aerial Vehicles
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