Real Time Path Planning for Unmanned Air Vehicles

2017-11-01
This study is about developing an online (real-time) path planning algorithm for multiple Unmanned Aerial Vehicles (UAV). The proposed algorithm dynamically finds the path of each vehicle by solving an optimization problem over a planning horizon. The main objective of the optimization problem is to maximize the collected amount of information from targets within a certain interval of time. The importance of the information collected from a targets, if no UAV is flying on the target, decreases with time. The proposed solution is centralized and can handle the dynamics and uncertainity in the region of interest where there are also forbidden zones into which vehicles are not supposed to enter during their missions. The solution method offered is similar to Receding Horizon method and it produces near optimum solutions based on some basic rule sets. Simulations are realized in the MATLAB environment. The planning algorithm has been tested on various scenarios, and the results are presented.
Citation Formats
M. K. Leblebicioğlu, “Real Time Path Planning for Unmanned Air Vehicles,” presented at the Fifth International Symposium on Engineering, Artificial Intelligence Applications (2017), 2017, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/71133.