Online path planning for unmanned aerial vehicles to maximize instantaneous information

Date

2021-01-01

Author

Ergezer, Halit
Leblebicioğlu, Mehmet Kemal

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

276
views

0
downloads

In this article, an online path planning algorithm for multiple unmanned aerial vehicles (UAVs) has been proposed. The aim is to gather information from target areas (desired regions) while avoiding forbidden regions in a fixed time window starting from the present time. Vehicles should not violate forbidden zones during a mission. Additionally, the significance and reliability of the information collected about a target are assumed to decrease with time. The proposed solution finds each vehicle’s path by solving an optimization problem over a planning horizon while obeying specific rules. The basic structure in our solution is the centralized task assignment problem, and it produces near-optimal solutions. The solution can handle moving, pop-up targets, and UAV loss. It is a complicated optimization problem, and its solution is to be produced in a very short time. To simplify the optimization problem and obtain the solution in nearly real time, we have developed some rules. Among these rules, there is one that involves the kinematic constraints in the construction of paths. There is another which tackles the real-time decision-making problem using heuristics imitating human-like intelligence. Simulations are realized in MATLAB environment. The planning algorithm has been tested on various scenarios, and the results are presented.

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85107212923&origin=inward
https://hdl.handle.net/11511/91105

Journal

International Journal of Advanced Robotic Systems

DOI

https://doi.org/10.1177/17298814211010379

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Real Time Path Planning for Unmanned Air Vehicles Leblebicioğlu, Mehmet Kemal (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. Th...
Nonlinear Guidance of Aircraft Formations Tekinalp, Ozan (null; 2015-01-05) Nonlinear formation flight control algorithm for a pair of unmanned aerial vehicles (UAV) is proposed. The leader-follower approach to formation flight is adopted. The leader maintains a prescribed trajectory while the follower is controlled to track and maintain a fixed relative distance from its leader. Two nonlinear guidance algorithms, Lyapunov and State Dependent Ricatti Equation, (SDRE) based are proposed for the relative guidance of the follower UAV. The resulting formation control systems are tested...
Coordinated guidance for multiple UAVs Cakici, Ferit; Ergezer, Halit; Irmak, Ufuk; Leblebicioğlu, Mehmet Kemal (2016-05-01) This paper addresses the path planning problem of multiple unmanned aerial vehicles (UAVs). The paths are planned to maximize collected amount of information from desired regions (DRs), while avoiding forbidden regions (FRs) and reaching the destination. This study focuses on maximizing collected information instead of minimizing total mission time, as in previous studies. The problem is solved by a genetic algorithm (GA) with the proposal of novel evolutionary operators. The initial populations are generat...
Interactive approaches for bi-objective UAV route planning in continuous space Türeci, Hannan; Köksalan, Murat; Tezcaner Öztürk, Diclehan; Department of Industrial Engineering (2017) We study the route planning problem of unmanned air vehicles (UAVs). We consider two objectives; minimizing total distance traveled and minimizing total radar detection threat since these objectives cover most of the other related factors. We consider routing in a two-dimensional continuous terrain, in which we have infinitely many efficient trajectories between target pairs. We develop interactive algorithms that find the most preferred solution of a route planner (RP), who has either of the underlying pre...
Autonomous quadrotor flight with vision-based obstacle avoidance in virtual environment Eresen, Aydin; Imamoglu, Nevrez; Efe, Mehmet Onder (Elsevier BV, 2012-01-01) In this paper, vision-based autonomous flight with a quadrotor type unmanned aerial vehicle (UAV) is presented. Automatic detection of obstacles and junctions are achieved by the use of optical flow velocities. Variation in the optical flow is used to determine the reference yaw angle. Path to be followed is generated autonomously and the path following process is achieved via a PID controller operating as the low level control scheme. Proposed method is tested in the Google Earth (R) virtual environment fo...

Citation Formats

H. Ergezer and M. K. Leblebicioğlu, “Online path planning for unmanned aerial vehicles to maximize instantaneous information,” International Journal of Advanced Robotic Systems, pp. 0–0, 2021, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85107212923&origin=inward.