Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior
This paper presents a novel path planning heuristic for multi-UAV pipe inspection missions inspired by the booby bird’s foraging behavior. The heuristic enables each UAV to find an optimal path that minimizes the detection time of defects in pipe networks while avoiding collisions with obstacles and...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/11/9/2092 |
| _version_ | 1827742856767340544 |
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| author | Faten Aljalaud Heba Kurdi Kamal Youcef-Toumi |
| author_facet | Faten Aljalaud Heba Kurdi Kamal Youcef-Toumi |
| author_sort | Faten Aljalaud |
| collection | DOAJ |
| description | This paper presents a novel path planning heuristic for multi-UAV pipe inspection missions inspired by the booby bird’s foraging behavior. The heuristic enables each UAV to find an optimal path that minimizes the detection time of defects in pipe networks while avoiding collisions with obstacles and other UAVs. The proposed method is compared with four existing path planning algorithms adapted for multi-UAV scenarios: ant colony optimization (ACO), particle swarm optimization (PSO), opportunistic coordination, and random schemes. The results show that the booby heuristic outperforms the other algorithms in terms of mean detection time and computational efficiency under different settings of defect complexity and number of UAVs. |
| first_indexed | 2024-03-11T04:13:17Z |
| format | Article |
| id | doaj.art-7f92bfb64b574954b34dc2d8893f3e39 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-11T04:13:17Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-7f92bfb64b574954b34dc2d8893f3e392023-11-17T23:19:55ZengMDPI AGMathematics2227-73902023-04-01119209210.3390/math11092092Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby BehaviorFaten Aljalaud0Heba Kurdi1Kamal Youcef-Toumi2Computer Science Department, College of Computer and Information Sciences, King Saud University, Riyadh 11451, Saudi ArabiaComputer Science Department, College of Computer and Information Sciences, King Saud University, Riyadh 11451, Saudi ArabiaMechanical Engineering Department, Massachusetts Institute of Technology (MIT), Cambridge, MA 02139, USAThis paper presents a novel path planning heuristic for multi-UAV pipe inspection missions inspired by the booby bird’s foraging behavior. The heuristic enables each UAV to find an optimal path that minimizes the detection time of defects in pipe networks while avoiding collisions with obstacles and other UAVs. The proposed method is compared with four existing path planning algorithms adapted for multi-UAV scenarios: ant colony optimization (ACO), particle swarm optimization (PSO), opportunistic coordination, and random schemes. The results show that the booby heuristic outperforms the other algorithms in terms of mean detection time and computational efficiency under different settings of defect complexity and number of UAVs.https://www.mdpi.com/2227-7390/11/9/2092inspectionbio-inspired algorithmsunmanned aerial vehicleboobymulti-UAVpath planning |
| spellingShingle | Faten Aljalaud Heba Kurdi Kamal Youcef-Toumi Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior Mathematics inspection bio-inspired algorithms unmanned aerial vehicle booby multi-UAV path planning |
| title | Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior |
| title_full | Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior |
| title_fullStr | Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior |
| title_full_unstemmed | Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior |
| title_short | Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior |
| title_sort | autonomous multi uav path planning in pipe inspection missions based on booby behavior |
| topic | inspection bio-inspired algorithms unmanned aerial vehicle booby multi-UAV path planning |
| url | https://www.mdpi.com/2227-7390/11/9/2092 |
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