Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition
Efficient exploration is a critical issue in swarm UAVs with substantial research interest due to its applications in search and rescue missions. In this study, we propose a cooperative exploration approach that uses multiple unmanned aerial vehicles (UAVs). Our approach allows UAVs to explore separ...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/7/6/337 |
| _version_ | 1797595288959975424 |
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| author | Jianjun Gui Tianyou Yu Baosong Deng Xiaozhou Zhu Wen Yao |
| author_facet | Jianjun Gui Tianyou Yu Baosong Deng Xiaozhou Zhu Wen Yao |
| author_sort | Jianjun Gui |
| collection | DOAJ |
| description | Efficient exploration is a critical issue in swarm UAVs with substantial research interest due to its applications in search and rescue missions. In this study, we propose a cooperative exploration approach that uses multiple unmanned aerial vehicles (UAVs). Our approach allows UAVs to explore separate areas dynamically, resulting in increased efficiency and decreased redundancy. We use a novel dynamic centroid-based method to partition the 3D working area for each UAV, with each UAV generating new targets in its partitioned area only using the onboard computational resource. To ensure the cooperation and exploration of the unknown, we use a next-best-view (NBV) method based on rapidly-exploring random tree (RRT), which generates a tree in the partitioned area until a threshold is reached. We compare this approach with three classical methods using Gazebo simulation, including a Voronoi-based area partition method, a coordination method for reducing scanning repetition between UAVs, and a greedy method that works according to its exploration planner without any interaction. We also conduct practical experiments to verify the effectiveness of our proposed method. |
| first_indexed | 2024-03-11T02:34:08Z |
| format | Article |
| id | doaj.art-e04d51d5bf0c4af29fbab4679bebd2e5 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-11T02:34:08Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-e04d51d5bf0c4af29fbab4679bebd2e52023-11-18T10:03:41ZengMDPI AGDrones2504-446X2023-05-017633710.3390/drones7060337Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area PartitionJianjun Gui0Tianyou Yu1Baosong Deng2Xiaozhou Zhu3Wen Yao4Defense Innovation Institute, Chinese Academy of Military Science, Beijing 100071, ChinaDefense Innovation Institute, Chinese Academy of Military Science, Beijing 100071, ChinaDefense Innovation Institute, Chinese Academy of Military Science, Beijing 100071, ChinaDefense Innovation Institute, Chinese Academy of Military Science, Beijing 100071, ChinaDefense Innovation Institute, Chinese Academy of Military Science, Beijing 100071, ChinaEfficient exploration is a critical issue in swarm UAVs with substantial research interest due to its applications in search and rescue missions. In this study, we propose a cooperative exploration approach that uses multiple unmanned aerial vehicles (UAVs). Our approach allows UAVs to explore separate areas dynamically, resulting in increased efficiency and decreased redundancy. We use a novel dynamic centroid-based method to partition the 3D working area for each UAV, with each UAV generating new targets in its partitioned area only using the onboard computational resource. To ensure the cooperation and exploration of the unknown, we use a next-best-view (NBV) method based on rapidly-exploring random tree (RRT), which generates a tree in the partitioned area until a threshold is reached. We compare this approach with three classical methods using Gazebo simulation, including a Voronoi-based area partition method, a coordination method for reducing scanning repetition between UAVs, and a greedy method that works according to its exploration planner without any interaction. We also conduct practical experiments to verify the effectiveness of our proposed method.https://www.mdpi.com/2504-446X/7/6/337path planningcollaborative explorationarea partitionswarm UAVs |
| spellingShingle | Jianjun Gui Tianyou Yu Baosong Deng Xiaozhou Zhu Wen Yao Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition Drones path planning collaborative exploration area partition swarm UAVs |
| title | Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition |
| title_full | Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition |
| title_fullStr | Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition |
| title_full_unstemmed | Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition |
| title_short | Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition |
| title_sort | decentralized multi uav cooperative exploration using dynamic centroid based area partition |
| topic | path planning collaborative exploration area partition swarm UAVs |
| url | https://www.mdpi.com/2504-446X/7/6/337 |
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