Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments
Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be da...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-06-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/13/4414 |
| _version_ | 1797528510486544384 |
|---|---|
| author | Blanca López Javier Muñoz Fernando Quevedo Concepción A. Monje Santiago Garrido Luis E. Moreno |
| author_facet | Blanca López Javier Muñoz Fernando Quevedo Concepción A. Monje Santiago Garrido Luis E. Moreno |
| author_sort | Blanca López |
| collection | DOAJ |
| description | Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square—for the planning phase—and a simple priority-based speed control—as the method for conflict resolution—is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs. |
| first_indexed | 2024-03-10T10:00:21Z |
| format | Article |
| id | doaj.art-1d839915425b4947888f05e38a8409ad |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T10:00:21Z |
| publishDate | 2021-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-1d839915425b4947888f05e38a8409ad2023-11-22T01:58:51ZengMDPI AGSensors1424-82202021-06-012113441410.3390/s21134414Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D EnvironmentsBlanca López0Javier Muñoz1Fernando Quevedo2Concepción A. Monje3Santiago Garrido4Luis E. Moreno5Robotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, SpainRobotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, SpainRobotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, SpainRobotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, SpainRobotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, SpainRobotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, SpainMulti-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square—for the planning phase—and a simple priority-based speed control—as the method for conflict resolution—is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs.https://www.mdpi.com/1424-8220/21/13/4414multi-UAV systemsautonomous vehiclefast marchingcollision avoidancepath planningvelocity control |
| spellingShingle | Blanca López Javier Muñoz Fernando Quevedo Concepción A. Monje Santiago Garrido Luis E. Moreno Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments Sensors multi-UAV systems autonomous vehicle fast marching collision avoidance path planning velocity control |
| title | Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments |
| title_full | Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments |
| title_fullStr | Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments |
| title_full_unstemmed | Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments |
| title_short | Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments |
| title_sort | path planning and collision risk management strategy for multi uav systems in 3d environments |
| topic | multi-UAV systems autonomous vehicle fast marching collision avoidance path planning velocity control |
| url | https://www.mdpi.com/1424-8220/21/13/4414 |
| work_keys_str_mv | AT blancalopez pathplanningandcollisionriskmanagementstrategyformultiuavsystemsin3denvironments AT javiermunoz pathplanningandcollisionriskmanagementstrategyformultiuavsystemsin3denvironments AT fernandoquevedo pathplanningandcollisionriskmanagementstrategyformultiuavsystemsin3denvironments AT concepcionamonje pathplanningandcollisionriskmanagementstrategyformultiuavsystemsin3denvironments AT santiagogarrido pathplanningandcollisionriskmanagementstrategyformultiuavsystemsin3denvironments AT luisemoreno pathplanningandcollisionriskmanagementstrategyformultiuavsystemsin3denvironments |