Optimal collision-free navigation for multi-rotor UAV swarms in urban areas
Author | Wan, Xiangpeng |
Author | Ghazzai, Hakim |
Author | Massoud, Yehia |
Author | Menouar, Hamid |
Available date | 2024-10-20T10:43:21Z |
Publication Date | 2019 |
Publication Name | IEEE Vehicular Technology Conference |
Resource | Scopus |
ISSN | 15502252 |
Abstract | 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. |
Sponsor | This work was made possible, in part, by grant NPRP # 9-257-1-056 from the Qatar National Research Fund (a member of The Qatar Foundation). The statements made herein are solely the responsibility of the authors. |
Language | en |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Subject | Collision avoidance Energy management Path planning Smart city Unmanned aerial vehicles |
Type | Conference |
Volume Number | 2019-April |
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QMIC Research [219 items ]