Online Path Generation and Navigation for Swarms of UAVs
Joint Authors
Ashraf, Adnan
Majd, Amin
Troubitsyna, Elena
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-01-11
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
With the growing popularity of unmanned aerial vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly.
Therefore, motion safety of UAVs has become a prime concern for UAV operators.
For a swarm of UAVs, a safe operation cannot be guaranteed without preventing the UAVs from colliding with one another and with static and dynamically appearing, moving obstacles in the flying zone.
In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs.
The proposed system uses geographical locations of the UAVs and of the successfully detected, static, and moving obstacles to predict and avoid the following: (1) UAV-to-UAV collisions, (2) UAV-to-static-obstacle collisions, and (3) UAV-to-moving-obstacle collisions.
Our collision prediction approach leverages efficient runtime monitoring and complex event processing (CEP) to make timely predictions.
A distinctive feature of the proposed system is its ability to foresee potential collisions and proactively find best ways to avoid predicted collisions in order to ensure safety of the entire swarm.
We also present a simulation-based implementation of the proposed system along with an experimental evaluation involving a series of experiments and compare our results with the results of four existing approaches.
The results show that the proposed system successfully predicts and avoids all three kinds of collisions in an online manner.
Moreover, it generates safe and efficient UAV routes, efficiently scales to large-sized problem instances, and is suitable for cluttered flying zones and for scenarios involving high risks of UAV collisions.
American Psychological Association (APA)
Ashraf, Adnan& Majd, Amin& Troubitsyna, Elena. 2020. Online Path Generation and Navigation for Swarms of UAVs. Scientific Programming،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1209136
Modern Language Association (MLA)
Ashraf, Adnan…[et al.]. Online Path Generation and Navigation for Swarms of UAVs. Scientific Programming No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1209136
American Medical Association (AMA)
Ashraf, Adnan& Majd, Amin& Troubitsyna, Elena. Online Path Generation and Navigation for Swarms of UAVs. Scientific Programming. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1209136
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1209136