An adaptive path replanning method for coordinated operations of drone in dynamic urban environments
Drones should be allowed to respond to dynamic urban environments and self-adjust their paths, safely and efficiently. Existing studies fail to develop a comprehensive approach to deal with drone encountering various dynamic changes over the course of flying. In this paper, an adaptive path replanni...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Online Access: | https://hdl.handle.net/10356/147361 |
| _version_ | 1826120436440629248 |
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| author | Wu, Yu Low, Kin Huat |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Wu, Yu Low, Kin Huat |
| author_sort | Wu, Yu |
| collection | NTU |
| description | Drones should be allowed to respond to dynamic urban environments and self-adjust their paths, safely and efficiently. Existing studies fail to develop a comprehensive approach to deal with drone encountering various dynamic changes over the course of flying. In this paper, an adaptive path replanning (APReP) method is proposed in discrete urban environments by considering the features of different types of dynamic changes, and the coordination among drones as well. First, various dynamic changes are concluded into three types. Three strategies are developed to conduct the path replanning for a single-drone operation under different combinations of dynamic changes. As the path replanning is extended to the operation involving multiple drones, the orders of planning are determined by task priority, path planning strategy and competition mechanism. A discrete rapidly-exploring random tree (DRRT) algorithm is presented to generate the path considering the characteristic of discrete urban environments. Simulation results demonstrate that DRRT algorithm is suitable for the path replanning problems considered, and the three proposed path replanning strategies are valid to cope with the corresponding types of dynamic change. Compare to other two algorithms, APReP algorithm is more efficient in large-scale problems with a number of dynamic changes. |
| first_indexed | 2024-10-01T05:16:26Z |
| format | Journal Article |
| id | ntu-10356/147361 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:16:26Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1473612021-08-28T20:10:19Z An adaptive path replanning method for coordinated operations of drone in dynamic urban environments Wu, Yu Low, Kin Huat School of Mechanical and Aerospace Engineering Air Traffic Management Research Institute Engineering::Mechanical engineering Drones Dynamic Changes Path Planning Drones should be allowed to respond to dynamic urban environments and self-adjust their paths, safely and efficiently. Existing studies fail to develop a comprehensive approach to deal with drone encountering various dynamic changes over the course of flying. In this paper, an adaptive path replanning (APReP) method is proposed in discrete urban environments by considering the features of different types of dynamic changes, and the coordination among drones as well. First, various dynamic changes are concluded into three types. Three strategies are developed to conduct the path replanning for a single-drone operation under different combinations of dynamic changes. As the path replanning is extended to the operation involving multiple drones, the orders of planning are determined by task priority, path planning strategy and competition mechanism. A discrete rapidly-exploring random tree (DRRT) algorithm is presented to generate the path considering the characteristic of discrete urban environments. Simulation results demonstrate that DRRT algorithm is suitable for the path replanning problems considered, and the three proposed path replanning strategies are valid to cope with the corresponding types of dynamic change. Compare to other two algorithms, APReP algorithm is more efficient in large-scale problems with a number of dynamic changes. Accepted version This work was supported in part by the Fundamental Research Funds for the Central Universities under Project Reference 2019CDJGFHK001, in part by the China Scholarship Council under Project/reference 201906055030, and in part by the UAS Programme’s research grants, ATMRI, NTU, Singapore. 2021-08-27T06:01:19Z 2021-08-27T06:01:19Z 2020 Journal Article Wu, Y. & Low, K. H. (2020). An adaptive path replanning method for coordinated operations of drone in dynamic urban environments. IEEE Systems Journal, 15(3), 4600-4611. https://dx.doi.org/10.1109/JSYST.2020.3017677 1932-8184 https://hdl.handle.net/10356/147361 10.1109/JSYST.2020.3017677 3 15 4600 4611 en IEEE Systems Journal © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/JSYST.2020.3017677 application/pdf |
| spellingShingle | Engineering::Mechanical engineering Drones Dynamic Changes Path Planning Wu, Yu Low, Kin Huat An adaptive path replanning method for coordinated operations of drone in dynamic urban environments |
| title | An adaptive path replanning method for coordinated operations of drone in dynamic urban environments |
| title_full | An adaptive path replanning method for coordinated operations of drone in dynamic urban environments |
| title_fullStr | An adaptive path replanning method for coordinated operations of drone in dynamic urban environments |
| title_full_unstemmed | An adaptive path replanning method for coordinated operations of drone in dynamic urban environments |
| title_short | An adaptive path replanning method for coordinated operations of drone in dynamic urban environments |
| title_sort | adaptive path replanning method for coordinated operations of drone in dynamic urban environments |
| topic | Engineering::Mechanical engineering Drones Dynamic Changes Path Planning |
| url | https://hdl.handle.net/10356/147361 |
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